Workpiece transport device

Abstract

Workpiece conveying device is provided with: a plurality of holding heads, with workpiece holding part and make it produce holding force vacuum pump; And conveying track (4), conveying a plurality of holding heads. Vacuum pump (22) has: pump part (34), be communicated with holding part, attract or eject gas; And shaft part (36), make pump part (34) operate by rotating. Shaft part (36) has the first magnet (48) of N pole and S pole around shaft magnetization alternately. Conveying track has the second magnet (18) extending along the transmission direction (D1) of holding head, the second magnet (18) is configured to generate N pole magnetic force and S pole magnetic force alternately in the transmission direction (D1), and generate magnetic force between the first magnet (48) of holding head. The magnetic pole of the part of the second magnet (18) generating magnetic force relative to the first magnet (48) is switched alternately, so that the shaft part (36) rotates, and the pump part (34) makes it produce holding force.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a workpiece conveying device. BACKGROUND

[0002] As a battery for vehicle use or the like, a stacked battery is being developed. The battery has a structure in which a stacked electrode body in which a separator is interposed between a plurality of positive electrode plates and a plurality of negative electrode plates is alternately stacked, and an electrolyte solution are accommodated in a container. For the manufacture of such a stacked battery, a method in which a single piece of an electrode or a separator is vacuum-sucked by a suction plate and conveyed to a stacking table, and stacked on the table is disclosed in Patent Literature 1, for example. Such a conveying method is not limited to an electrode plate or a separator, and can be employed in the case of conveying other workpieces as well.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT LITERATURE

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2008-282756 SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] In vacuum suction, it is necessary to connect the suction plate and the vacuum pump by a vacuum pipe. In addition, it is necessary to connect the vacuum pump and the driving power source by wiring. Therefore, in the case where the vacuum pump or the driving power source is placed outside to move the suction plate, if the transport distance of the electrode plate or the like is long, or the conveying path is complicated (for example, a case where a branch or a junction is included), the vacuum pipe or the wiring can be entangled. Therefore, the laying of the vacuum pipe or the wiring becomes a constraint, and the design freedom of the workpiece conveying device is limited.

[0008] The present disclosure was obtained in view of such a situation, and one of the objects thereof is to provide a technology for improving the design freedom of a workpiece conveying device.

[0009] METHOD FOR SOLVING THE PROBLEMS

[0010] One aspect of the present disclosure is a workpiece conveying device. The device includes a plurality of holding heads each having a holding portion for holding a workpiece and a vacuum pump for generating a holding force in the holding portion, and a conveying track for conveying the plurality of holding heads. The vacuum pump includes a pump portion connected to the holding portion and configured to suck gas through the holding portion or to eject gas to the holding portion, and a shaft portion configured to operate the pump portion by rotation. The shaft portion includes a first magnet having N poles and S poles alternately magnetized around a shaft. The conveying track includes a second magnet extending in a transport direction of the holding heads, the second magnet being configured to alternately generate a magnetic force of N poles and a magnetic force of S poles in the transport direction and to generate a magnetic force between the first magnet of the conveyed holding head. By alternately switching the magnetic poles of the portion of the second magnet generating the magnetic force with respect to the first magnet, the shaft portion rotates, and the pump portion sucks or ejects the gas to generate the holding force.

[0011] Any combination of the above-described components, a scheme that converts the embodiments of the present disclosure between a method, an apparatus, a system, and the like is also effective as the present disclosure.

[0012] Inventive Effects

[0013] According to the present disclosure, it is possible to improve the design freedom of the workpiece transport apparatus. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a perspective view of the workpiece transport apparatus of Embodiment 1.

[0015] Figure 2 is a perspective view that enlarges a portion of the workpiece transport apparatus.

[0016] Figure 3 is a perspective view of the holding head viewed from an oblique upper side.

[0017] Figure 4 is a perspective view of the holding head viewed from an oblique lower side.

[0018] Figure 5 (a) of FIG. 10 is a perspective view of the vacuum pump, Figure 5 (b) of FIG. 10 is a cross-sectional perspective view of the vacuum pump.

[0019] Figure 6 is a view that explains a mechanism that rotates the shaft portion.

[0020] Figure 7 is a perspective view that enlarges a portion of the holding head that includes the holding release valve.

[0021] Figure 8 (a) and Figure 8 (b) of FIG. 12 are perspective views that enlarge a portion of the transfer portion that includes the transport rail.

[0022] Figure 9 is a view that explains the opening and closing operation of the holding release valve.

[0023] Figure 10 is a view that explains a mechanism that rotates the shaft portion in the workpiece transport apparatus of Embodiment 2.

[0024] Figure 11 is a perspective view of a portion of the second magnet that is provided to the workpiece transport apparatus of Modification 2. DETAILED DESCRIPTION

[0025] Hereinafter, the present disclosure will be described based on preferred embodiments with reference to the accompanying drawings. The embodiments do not limit the present disclosure but are illustrative, and all features or combinations thereof described in the embodiments do not necessarily represent the essential content of the present disclosure. Identical or equivalent constituent elements, parts, processes shown in each drawing are denoted by the same reference numerals, and repeated explanation is appropriately omitted. Further, the scale or shape of each portion shown in each drawing is set for convenience of easy explanation, and is not limited unless specifically mentioned. In addition, in the present specification or claims, in the case where the terms such as "first", "second" and the like are used, the terms do not indicate any order or importance unless specifically mentioned, but are used to distinguish one constituent from another. In addition, in each drawing, a part of unimportant parts is omitted and displayed when explaining the embodiments.

[0026] (Embodiment 1)

[0027] Figure 1 is a perspective view of the workpiece conveying device 1 of Embodiment 1. Figure 2 is a perspective view that enlarges a part of the workpiece conveying device 1. Further, in Figure 2 , the illustration of the table plate 32 of the holding head 2 is omitted.

[0028] The workpiece conveying device 1 has a plurality of holding heads 2 and a conveying rail 4. Each holding head 2 of the present embodiment adsorbs and holds a workpiece W by adsorption force generated by suction of gas. The workpiece W as one example includes at least one of an electrode plate and a spacer of a battery. The workpiece W of the present embodiment is a unit laminate 300 that laminates an electrode plate and a spacer. The unit laminate 300 is a constituent unit of a laminated electrode body 302. That is, a plurality of unit laminates 300 are laminated to obtain the laminated electrode body 302. Further, the workpiece W is not limited to the constituent parts of the battery such as the electrode plate, the spacer, and the unit laminate 300.

[0029] The conveying rail 4 is a mechanism that transports the plurality of holding heads 2. Each holding head 2 moves on the conveying rail 4 as a guide rail. The conveying rail 4 has a publicly known transport mechanism that transports each holding head 2. The conveying rail 4 of the present embodiment has, as one example, a publicly known linear transport mechanism. Specifically, the conveying rail 4 has a rail portion 6 (stator) in which a plurality of coils (not shown) arranged in the extending direction are built in. Further, each holding head 2 (movable) has a transport magnet 8 at a position opposite to the coil in a state of being suspended from the rail portion 6. The transport magnet 8 is, for example, a permanent magnet.

[0030] The magnetic flux generated by energization of each coil acts on the transport magnet 8, thereby generating a thrust along the track portion 6 and an attractive force to the track portion 6 at the holding head 2. Thus, the holding head 2 moves along the track portion 6. The holding head 2 has a roller 10 that slidably contacts the track portion 6, and the distance from the track portion 6 is maintained by the roller 10. The linear transport mechanism is known, and detailed description thereof is omitted. Further, the transport track 4 can also be provided with a transport mechanism other than the linear transport mechanism, such as a chain or the like that pulls the holding head 2.

[0031] The transport track 4 of the present embodiment branches into a plurality. Further, the transport track 4 has a receiving portion 12 and a transfer portion 14. The holding head 2 receives the unit laminate 300 from the unit laminate manufacturing apparatus 100 at the receiving portion 12. Further, the holding head 2 releases the unit laminate 300 to the laminating apparatus 200 at the transfer portion 14. The laminating apparatus 200 is an apparatus that laminates a plurality of unit laminates 300 to manufacture a laminated electrode body 302. Further, the transfer portion 14 is provided with a plurality for one receiving portion 12. Further, in Figure 1 In the present embodiment, the unit laminate manufacturing apparatus 100 and the laminating apparatus 200 are schematically illustrated, and illustration of a part of the structure is omitted. Further, the structure of each apparatus is not limited to the illustrated structure.

[0032] As one example, the transport track 4 has a ring-like structure that is long in a prescribed direction, and a part of the ring branches into two tracks that extend side by side. That is, the transport track 4 has a first track 4a, a second track 4b that branches from one end of the first track 4a, and a third track 4c. The second track 4b and the third track 4c that branch from the first track 4a converge at the other end side of the first track 4a. That is, a branching point 4d is provided at one end of the first track 4a, and a converging point 4e is provided at the other end of the first track 4a. The receiving portion 12 is disposed at the first track 4a. Two transfer portions 14 are respectively disposed at the second track 4b and the third track 4c. The two transfer portions 14 are arranged in series side by side at each of the second track 4b and the third track 4c. Further, the shape of the transport track 4 is not particularly limited, and can not have the branching point 4d or the converging point 4e, or can have two or more branching points 4d or converging points 4e.

[0033] The holding head 2 receives the unit laminate 300 as the workpiece W from the unit laminate manufacturing apparatus 100 at the receiving portion 12, and moves in the first track 4a. The holding head 2 that has reached the branching point 4d toward the second track 4b and the third track 4c is caused to advance to either the second track 4b or the third track 4c by the control apparatus 16. The control apparatus 16 can switch the target position of advancement of the holding head 2 by controlling energization of the coils built in the track portion 6. The control apparatus 16 is realized by an element or a circuit represented by a CPU or a memory of a computer as a hardware structure, and by a computer program or the like as a software structure, but is not limited thereto.Figure 1 In the present embodiment, a functional block realized by cooperation thereof is depicted. It is a matter of course for those skilled in the art that the functional block can be realized in various forms by a combination of hardware and software.

[0034] The holding head 2 advancing on the second track 4b or the third track 4c hands over the unit laminate 300 to the stacking device 200 at the handover section 14. The holding head 2 releasing the unit laminate 300 further advances on the second track 4b or the third track 4c, returns to the first track 4a from the confluence point 4e, and reaches the receiving section 12 again. And, the unit laminate 300 is received at the receiving section 12 and transported to the handover section 14.

[0035] The unit laminate manufacturing device 100 is a continuous drum type manufacturing device that combines a plurality of drums, and performs each process of cutting, heating, bonding, stacking, and the like of the electrode body or the spacer by the drums, as an example. Thereby, the unit laminate 300 can be manufactured at high speed and continuously. In the unit laminate manufacturing device 100, a plurality of first electrode plates 304 are obtained by the first electrode cutting drum 100a. Further, a plurality of second electrode plates 306 are obtained by the second electrode cutting drum 100b.

[0036] The first electrode plate 304 and the second electrode plate 306 are heated and supplied to the bonding drum 100c, respectively. Further, a continuous body of the first spacer 308 and a continuous body of the second spacer 310 are supplied to the bonding drum 100c. Also, in the bonding drum 100c, the continuous body of the first spacer 308, the plurality of first electrode plates 304, the continuous body of the second spacer 310, and the plurality of second electrode plates 306 are stacked and crimped in order, and a continuous laminate of a plurality of unit laminates 300 is formed. The continuous laminate is singulated into a plurality of unit laminates 300 by the spacer cutting drum 100d. The singulated unit laminates 300 are transported to the receiving section 12 and handed over to the holding head 2.

[0037] The unit laminate 300 is handed over from the holding head 2 to the stacking device 200 at the handover section 14. The stacking device 200 has a stacking drum 200a. The stacking drum 200a transports a plurality of unit laminates 300 received from the holding head 2 to a stacking stage 200b in order and releases to the stacking stage 200b. Thereby, the unit laminates 300 are stacked on the stacking stage 200b, and a stacked electrode body 302 is obtained. The stacked electrode body 302 formed is taken out from the stacking stage 200b toward a device of a next process. Further, the unit laminate 300 can be handed over from the holding head 2 to the stacking drum 200a directly, or a relay drum can be intervened between the holding head 2 and the stacking drum 200a.

[0038] Further, the transport track 4 has a second magnet 18 extending in the transport direction Dl of the holding head 2. The second magnet 18 extends in a range in which the holding head 2 holds the workpiece W moving in the transport track 4. Further, the second magnet 18 is disposed in a manner to approach the holding head 2 moving in the transport track 4. The structure or the function of the second magnet 18 will be described later in detail.

[0039] Figure 3 Fig. 1 is a perspective view of the holding head 2 viewed from an oblique upper side. Figure 4 Fig. 2 is a perspective view of the holding head 2 viewed from an oblique lower side. Figure 5 Fig. 3 is a perspective view of the vacuum pump 22, Figure 5 Fig. 4 is a sectional perspective view of the vacuum pump 22. The holding head 2 has a disk portion 20, a vacuum pump 22, a holding release valve 24, a support portion 26, a transport magnet 8, and a roller 10. The support portion 26 extends in a prescribed direction (for example, a vertical direction), and one end thereof is fixed to the disk portion 20, and the other end thereof is fixed to the vacuum pump 22. Further, between the disk portion 20 and the vacuum pump 22 in the support portion 26, the holding release valve 24, the transport magnet 8, and the roller 10 are fixed.

[0040] The disk portion 20 is a flat plate shape longer in an orthogonal direction D2 orthogonal to the transport direction Dl of the holding head 2, and is determined in posture in a manner that one major surface thereof opposes the receiving portion 12 to the unit laminate manufacturing apparatus 100, and the other major surface thereof opposes the transfer portion 14 to the laminating apparatus 200. The one major surface constitutes a holding portion 28 of the workpiece. The holding portion 28 of the present embodiment is constituted by a suction surface that suctions the workpiece W. A plurality of suction holes 30 are provided in the holding portion 28. The plurality of suction holes 30 are arranged in a dispersed manner in a surface direction of the holding portion 28.

[0041] The plurality of suction holes 30 are grouped into four of a first suction hole group 30a, a second suction hole group 30b, a third suction hole group 30c, and a fourth suction hole group 30d. In each of the suction hole groups, the suction holes 30 are arranged at prescribed intervals in the orthogonal direction D2. Further, the first suction hole group 30a, the second suction hole group 30b, the third suction hole group 30c, and the fourth suction hole group 30d are arranged in this order from the front (downstream side) of the transport direction Dl of the holding head 2. In each of the suction hole groups, the suction holes 30 are connected to each other by a connection pipe (not shown) extending in the orthogonal direction D2. The connection pipe is connected to the vacuum pump 22 via a vacuum pipe 38 described later. A surface plate 32 is provided on a major surface on the opposite side of the holding portion 28 of the disk portion 20.

[0042] The vacuum pump 22 is a device that generates a holding force in the holding portion 28. The vacuum pump 22 has a pump portion 34, a shaft portion 36, and a vacuum pipe 38. The vacuum pump 22 of the present embodiment is configured by a known diaphragm pump, for example. Further, the vacuum pump 22 is not particularly limited in structure as long as it is a device that generates a holding force in the holding portion 28 by rotation of the shaft portion 36.

[0043] The vacuum pump 22 of the present embodiment has a plurality of pump portions 34. The vacuum pump 22 has four pump portions 34, for example. Each pump portion 34 has a pump chamber 40, a diaphragm drive shaft 42, an intake port 44, and a discharge port 46. The intake port 44 and the discharge port 46 are connected to the pump chamber 40 and communicate the inside and outside of the pump chamber 40. Further, the pump chamber 40 has a diaphragm (not shown) to which the diaphragm drive shaft 42 is connected. The diaphragm drive shaft 42 is connected to the shaft portion 36.

[0044] The shaft portion 36 reciprocally moves the diaphragm drive shaft 42 by rotation, thereby operating the pump portion 34. The shaft portion 36 is a so-called crankshaft. The diaphragm drive shaft 42 reciprocates and the diaphragm elastically deforms, whereby gas outside the pump chamber 40 is sucked into the pump chamber 40 from the intake port 44 and gas inside the pump chamber 40 is discharged to the outside of the pump chamber 40 from the discharge port 46.

[0045] Each pump portion 34 is connected to the holding portion 28 by the vacuum pipe 38 and sucks gas from each adsorption hole 30 of the holding portion 28. Specifically, one end of the vacuum pipe 38 is connected to the intake port 44. Further, the other end of the vacuum pipe 38 is connected to the connection pipe of the disk portion 20. Thus, when each pump portion 34 is operated by rotation of the shaft portion 36, gas is sucked from the adsorption hole 30 and a suction force, that is, a holding force is generated in the holding portion 28. The diaphragm drive shaft 42 of each pump portion 34 is connected to the same shaft portion 36. Therefore, each pump portion 34 is rotated by the common shaft portion 36 to generate a holding force.

[0046] The holding head 2 holds one workpiece W by at least two pump portions 34. Further, the holding head 2 holds a plurality of workpieces W. One workpiece W is held by two pump portions 34 out of the four pump portions 34, and another workpiece W is held by the remaining two pump portions 34, for example.

[0047] Specifically, the four pump portions 34 are in one-to-one correspondence with the first to fourth adsorption hole groups 30a to 30d, and each adsorption hole group is connected to each pump portion 34 via a vacuum pipe 38. Hereinafter, the pump portion 34 and the vacuum pipe 38 connected to the first adsorption hole group 30a are appropriately referred to as a first pump portion 34a and a first vacuum pipe 38a. Further, the pump portion 34 and the vacuum pipe 38 connected to the second adsorption hole group 30b are referred to as a second pump portion 34b and a second vacuum pipe 38b. Further, the pump portion 34 and the vacuum pipe 38 connected to the third adsorption hole group 30c are referred to as a third pump portion 34c and a third vacuum pipe 38c. Further, the pump portion 34 and the vacuum pipe 38 connected to the fourth adsorption hole group 30d are referred to as a fourth pump portion 34d and a fourth vacuum pipe 38d.

[0048] The two workpieces W held by each holding head 2 are arranged in the transport direction Dl of the holding head 2. The workpiece W located in front in the transport direction Dl is adsorbed by the first and second adsorption hole groups 30a and 30b. The workpiece W located in rear in the transport direction Dl is adsorbed by the third and fourth adsorption hole groups 30c and 30d. Hereinafter, the workpiece W located in front is appropriately referred to as a front-side workpiece Wl, and the workpiece W located in rear is appropriately referred to as a rear-side workpiece W2.

[0049] The shaft portion 36 is provided with a first magnet 48. The first magnet 48 is disc-shaped, and an N pole and an S pole are alternately magnetized around the shaft portion 36. The first magnet 48 is, for example, a permanent magnet. The shaft portion 36 can be rotated by generating a magnetic force between the second magnet 18 provided on the transport track 4 and the first magnet 48.

[0050] Figure 6 is a view illustrating a mechanism for rotating the shaft portion 36. As shown in Figure 6 the second magnet 18 is disposed close to the holding head 2 in a manner that generates a magnetic force between the first magnet 48 of the holding head 2 being transported. Further, the second magnet 18 can alternately generate an N-pole magnetic force and an S-pole magnetic force in the transport direction Dl of the holding head 2. The second magnet 18 of the present embodiment is alternately magnetized in the transport direction Dl of the holding head 2. The second magnet 18 is, for example, a permanent magnet. Thus, when the holding head 2 is transported, the magnetic poles of the portion of the second magnet 18 that generates a magnetic force with respect to the first magnet 48 (for example, the portion of the second magnet 18 closest to the first magnet 48) are alternately switched. As a result, a torque is generated in the shaft portion 36, and the first to fourth pump portions 34a to 34d attract gas via the holding portion 28, causing the holding portion 28 to generate a holding force.

[0051] Further, the N pole and the S pole of the second magnet 18 of the present embodiment are formed in a spiral shape around the rotation axis Ax extending in the transport direction Dl of the holding head 2. Further, the second magnet 18 rotates around the rotation axis Ax. The rotation of the second magnet 18 can be achieved, for example, by a motor (not shown) connected to the second magnet 18 being controlled by the control device 16. By rotating the second magnet 18 in which the N pole and the S pole are formed in a spiral shape, the magnetic poles of the portion in which the first magnet 48 generates the magnetic force in the second magnet 18 can be switched alternately even in a state in which the holding head 2 is stopped. Therefore, the rotation of the shaft portion 36 can be maintained and the holding portion 28 can continuously generate the holding force even in a state in which the holding head 2 is stopped.

[0052] Further, the rotation speed of the second magnet 18 and the transport speed of the holding head 2 are adjusted so that the magnetic poles of the portion in which the magnetic force is generated between the second magnet 18 and the first magnet 48 are not fixed. Further, the arrangement of the N pole and the S pole in each magnet or the positional relationship between the two magnets, and the like, which are necessary for rotating the shaft portion 36, can be set appropriately according to the experiment or simulation of the designer, or the like. Further, Figure 1 The second magnet 18 shown is discontinuous in a part of the range from the receiving portion 12 to the handover portion 14. At this time, the length of the region in which the second magnet 18 does not extend is set in accordance with the time until the rotation of the shaft portion 36 is stopped and the holding force (attractive force) of the holding portion 28 disappears, and the transport speed of the holding head 2.

[0053] The holding release valve 24 is a valve for releasing the holding force of the holding portion 28. Figure 7 Fig. 7 is an enlarged perspective view showing a part of the holding head 2 including the holding release valve 24. Figure 8 Fig. 8 (a) and Figure 8 Fig. 8 (b) is an enlarged perspective view showing a part of the transport track 4 including the handover portion 14. Figure 9 Fig. 9 is a view illustrating the opening and closing operation of the holding release valve 24. Further, in Figure 8 In Fig. 8 (a), the illustration of the stacking device 200 is omitted.

[0054] As Figure 7As shown, the holding release valves 24 are constituted by plate springs, for example, and are fixed to the base plate 50 that is longer in the transport direction Dl. The base plate 50 is fixed to the support portion 26 between the vacuum pump 22 and the disk portion 20. The vacuum pipe 38 is provided in such a manner as to pass through the base plate 50. Inside the base plate 50, branch pipes 52 are provided that are connected to the vacuum pipe 38. One end of the branch pipe 52 is connected to the vacuum pipe 38, and the other end is open to the outside of the base plate 50. In the present embodiment, a branch pipe 52 is connected to each of the first to fourth vacuum pipes 38a to 38d. Hereinafter, the branch pipe 52 connected to the first vacuum pipe 38a will be referred to as the first branch pipe 52a, the branch pipe 52 connected to the second vacuum pipe 38b will be referred to as the second branch pipe 52b, the branch pipe 52 connected to the third vacuum pipe 38c will be referred to as the third branch pipe 52c, and the branch pipe 52 connected to the fourth vacuum pipe 38d will be referred to as the fourth branch pipe 52d.

[0055] Further, in the present embodiment, two open ends of the branch pipes 52 are arranged on each of the two sides of the base plate 50 in the orthogonal direction D2. Further, on each side of the base plate 50, the two open ends are arranged side by side in the transport direction Dl. In front of one side of the base plate 50 in the transport direction Dl, the open end of the first branch pipe 52a is arranged. In rear of one side of the base plate 50 in the transport direction Dl, the open end of the third branch pipe 52c is arranged. In front of the other side of the base plate 50 in the transport direction Dl, the open end of the second branch pipe 52b is arranged. In rear of the other side of the base plate 50 in the transport direction Dl, the open end of the fourth branch pipe 52d is arranged.

[0056] The open ends of the branch pipes 52 are blocked by the holding release valves 24. In the present embodiment, one plate spring longer in the transport direction Dl is fixed on each of the two sides of the base plate 50 in the orthogonal direction D2. Further, the two ends of each plate spring block the open ends of the branch pipes 52, functioning as the holding release valves 24. Each holding release valve 24 can hold or release the workpiece W by switching between a closed state (a state in which the open end of the branch pipe 52 is blocked) and an open state (a state in which the open end of the branch pipe 52 is communicated to the atmosphere). Hereinafter, the holding release valve 24 that blocks the open end of the first branch pipe 52a will be referred to as the first holding release valve 24a, the holding release valve 24 that blocks the open end of the second branch pipe 52b will be referred to as the second holding release valve 24b, the holding release valve 24 that blocks the open end of the third branch pipe 52c will be referred to as the third holding release valve 24c, and the holding release valve 24 that blocks the open end of the fourth branch pipe 52d will be referred to as the fourth holding release valve 24d.

[0057] The front side workpiece Wl is switched between holding and releasing by the first holding release valve 24a and the second holding release valve 24b. The rear side workpiece W2 is switched between holding and releasing by the third holding release valve 24c and the fourth holding release valve 24d.

[0058] Each holding release valve 24 has a third magnet 54 on a surface facing outward in the orthogonal direction D2. The third magnet 54 is, for example, a permanent magnet. In the present embodiment, the third magnet 54 is provided at both end portions of the leaf spring constituting the first holding release valve 24a and the third holding release valve 24c. Similarly, the third magnet 54 is provided at both end portions of the leaf spring constituting the second holding release valve 24b and the fourth holding release valve 24d.

[0059] As shown in (a) of FIG. 9 and (b) of FIG. 10, the transport track 4 has a fourth magnet 56 at the position where the holding head 2 releases the workpiece W, i.e., the handover portion 14. The fourth magnet 56 is, for example, an electromagnet. The energization and the blockage of the energization of the fourth magnet 56 are controlled by the control device 16, for example. The fourth magnet 56 is configured to generate a magnetic force between the third magnet 54 provided on the holding head 2 reaching the handover portion 14. Figure 8 Figure 8 As shown in (a) of FIG. 9 and (b) of FIG. 10, the transport track 4 has a fourth magnet 56 at the position where the holding head 2 releases the workpiece W, i.e., the handover portion 14. The fourth magnet 56 is, for example, an electromagnet. The energization and the blockage of the energization of the fourth magnet 56 are controlled by the control device 16, for example. The fourth magnet 56 is configured to generate a magnetic force between the third magnet 54 provided on the holding head 2 reaching the handover portion 14.

[0060] As shown in (a) of FIG. 9 and (b) of FIG. 10, the transport track 4 has a fourth magnet 56 at the position where the holding head 2 releases the workpiece W, i.e., the handover portion 14. The fourth magnet 56 is, for example, an electromagnet. The energization and the blockage of the energization of the fourth magnet 56 are controlled by the control device 16, for example. The fourth magnet 56 is configured to generate a magnetic force between the third magnet 54 provided on the holding head 2 reaching the handover portion 14. Figure 9 As shown in (a) of FIG. 9 and (b) of FIG. 10, the transport track 4 has a fourth magnet 56 at the position where the holding head 2 releases the workpiece W, i.e., the handover portion 14. The fourth magnet 56 is, for example, an electromagnet. The energization and the blockage of the energization of the fourth magnet 56 are controlled by the control device 16, for example. The fourth magnet 56 is configured to generate a magnetic force between the third magnet 54 provided on the holding head 2 reaching the handover portion 14.

[0061] ​Fourth magnets 56 are each arranged at each interface portion 14 in a manner sandwiching the holding head 2 in the orthogonal direction D2. Furthermore, the two fourth magnets 56 arranged at each interface portion 14 are arranged offset in the transport direction Dl. Specifically, the fourth magnets 56 opposed to each open end of the first branch pipe 52a and the third branch pipe 52c are offset further rearward (upstream side) in the transport direction Dl than the fourth magnets 56 opposed to each open end of the second branch pipe 52b and the fourth branch pipe 52d. Therefore, the release of the suction of the front-side workpiece Wl based on the first suction hole group 30a is started earlier than the release of the suction of the front-side workpiece Wl based on the second suction hole group 30b. Furthermore, the release of the suction of the rear-side workpiece W2 based on the third suction hole group 30c is started earlier than the release of the suction of the rear-side workpiece W2 based on the fourth suction hole group 30d.

[0062] As one example, when the holding head 2 passes through the upstream-side interface portion 14 in the second track 4b or the third track 4c, first, the first holding release valve 24a is opened. Thereby, the vacuum break is caused at the front portion of the front-side workpiece Wl, which is handed over to the lamination device 200. Next, when the holding head 2 moves forward, the second holding release valve 24b is opened. Thereby, the vacuum break is caused at the rear portion of the front-side workpiece Wl, which is handed over to the lamination device 200. Furthermore, after the front-side workpiece Wl is handed over to the lamination device 200, the control device 16 releases the energization of the fourth magnets 56 until the holding head 2 passes through the upstream-side interface portion 14.

[0063] Thereby, the holding head 2 advances toward the downstream-side interface portion 14 while holding the rear-side workpiece W2. Also, it can be that, at the downstream-side interface portion 14, the third holding release valve 24c is opened, the front portion of the rear-side workpiece W2 is handed over to the lamination device 200, and then the fourth holding release valve 24d is opened, the rear portion of the rear-side workpiece W2 is handed over to the lamination device 200. Furthermore, at the upstream-side interface portion 14, the rear-side workpiece W2 is handed over to the lamination device 200, and at the downstream-side interface portion 14, the front-side workpiece Wl is handed over to the lamination device 200.

[0064] As explained above, the workpiece transport device 1 of the present embodiment is provided with: a plurality of holding heads 2 having a holding portion 28 of a workpiece W and a vacuum pump 22 that generates a holding force in the holding portion 28; and a transport track 4 that transports the plurality of holding heads 2. The vacuum pump 22 has: a pump portion 34 that communicates with the holding portion 28 and sucks gas through the holding portion 28; and a shaft portion 36 that operates the pump portion 34 by rotation. The shaft portion 36 has a first magnet 48 in which N poles and S poles are alternately magnetized around a shaft. The transport track 4 has a second magnet 18 that extends in a transport direction Dl of the holding heads 2, that generates a magnetic force of an N pole and a magnetic force of an S pole alternately in the transport direction Dl, and that is configured to generate a magnetic force between the first magnet 48 of the transported holding head 2. Also, by alternately switching the magnetic poles of the portion of the second magnet 18 that generates the magnetic force to the first magnet 48, the shaft portion 36 is rotated, and thus the pump portion 34 generates the holding force by sucking gas.

[0065] The workpiece transport device 1 of the present embodiment mounts the vacuum pump 22 to the holding head 2, and rotates the shaft portion 36 by the action of the first magnet 48 and the second magnet 18, thereby generating the holding force in the holding portion 28. Therefore, it is possible to omit the laying of a vacuum pipe or wiring that is required in the case where the vacuum pump and a driving power source are placed outside and the holding head is moved, or the driving power source is placed outside and the holding head to which the vacuum pump is mounted is moved. Therefore, it is possible to improve the design freedom of the workpiece transport device 1.

[0066] Furthermore, the second magnet 18 of the present embodiment rotates around a rotation shaft Ax that extends in the transport direction Dl, and the N poles and the S poles are formed in a spiral shape around the rotation shaft Ax. Also, by the rotation of the second magnet 18, the magnetic poles of the portion of the second magnet 18 that generates the magnetic force to the first magnet 48 are alternately switched. Thus, even if the holding head 2 is stopped, it is possible to continue the rotation of the shaft portion 36 and maintain the holding force of the holding portion 28. For example, when the interface of the workpiece W and the holding portion 28 are both flat surfaces, in order to reduce the load applied to the workpiece W at the time of handover, it is desirable to stop the holding head 2 and perform the handover of the workpiece W. In this regard, according to the holding head 2 of the present embodiment that can receive the workpiece W in the stopped state, it is possible to perform the handover of the workpiece W between flat surfaces while reducing the load to the workpiece W. Furthermore, if the handover is between curved surfaces or between a curved surface and a flat surface, it is also possible to perform the handover of the workpiece W under a light load in a state where the holding head 2 is moved.

[0067] Further, the vacuum pump 22 of the present embodiment has a plurality of pump portions 34. Thereby, the holding portion 28 can be divided into a plurality of regions, and the holding force can be generated independently in each region. Further, the area of the holding portion 28 can be expanded, or the holding force can be increased. Further, each pump portion 34 is operated and generates the adsorption force by the rotation of the common shaft portion 36. Thereby, the case where the structure of the holding head 2 becomes complicated due to the increase in the number of pump portions 34 can be suppressed. Further, the number of pump portions 34 can be one or more than four.

[0068] The holding head 2 of the present embodiment holds one workpiece W by at least two pump portions 34. Further, the holding head 2 holds a plurality of workpieces W. Specifically, the front-side workpiece W1 is held by the first pump portion 34a and the second pump portion 34b. Further, the rear-side workpiece W2 is held by the third pump portion 34c and the fourth pump portion 34d. By holding one workpiece W by two or more pump portions 34, the workpiece W can be released in a plurality of stages. Thereby, when the workpiece W is delivered to the lamination device 200, the delivery of the workpiece W can be performed more accurately. Further, the holding head 2 holds a plurality of workpieces W, and thus the throughput of the workpiece delivery device 1 can be increased. Further, one workpiece W can be held by one pump portion 34 or three or more pump portions 34. Further, the holding head 2 can hold one workpiece W or three or more workpieces W.

[0069] Further, the holding head 2 of the present embodiment has a holding release valve 24 that releases the holding force of the holding portion 28. The holding release valve 24 has a third magnet 54. The delivery track 4 has a fourth magnet 56 configured to generate a magnetic force with the third magnet 54 at a position where the holding head 2 releases the workpiece W. The holding release valve 24 switches the open / close state by the generation of the magnetic force between the third magnet 54 and the fourth magnet 56, and releases the holding force. Thereby, the holding force of the holding portion 28 can be released by a simple structure. Thus, the vacuum pump 22 can be suppressed from being large-sized, and further, the holding head 2 can be suppressed from being large-sized.

[0070] Further, the delivery track 4 of the present embodiment is branched into a plurality. Thereby, the degree of freedom in the arrangement of the delivery destination position of the workpiece W can be increased. Further, a device with a faster production takt time can be arranged at the branch source of the delivery track 4, and a device with a slower production takt time can be arranged at each of the branch sources, and thus the production speed of the device with the faster production takt time can be prevented from being sacrificed.

[0071] The workpiece W of the present embodiment is a unit laminate 300 in which an electrode plate and a spacer are laminated. The delivery track 4 has a receiving portion 12 at which the holding head 2 receives the unit laminate 300 from a unit laminate manufacturing device 100, and a delivery portion 14 at which the holding head 2 releases the unit laminate 300 to a lamination device 200. Further, a plurality of delivery portions 14 are provided for one receiving portion 12.

[0072] The production tact time of the unit stacker manufacturing apparatus 100 (the time required for the manufacturing of the unit stack 300 and the handover to the holding head 2) tends to be shorter than the production tact time of the stacker apparatus 200 (the time required for the manufacturing of the stacked electrode body 302 and the extraction from the stacking table 200b). Therefore, by providing a plurality of handover sections 14 to one receiving section 12, it is possible to increase the production speed of the stacked electrode body 302. Further, the handover sections 14 are respectively arranged at the branch positions of the transport track 4. Thereby, compared to the case where a plurality of handover sections 14 are arranged in series, it is possible to suppress the elongation of the transport track 4.

[0073] Further, according to the workpiece transport apparatus 1 of the present embodiment, it is also possible to generate power using the rotation of the shaft section 36. The power obtained by this power generation can be used, for example, as a driving source of various sensors mounted on the holding head 2.

[0074] (Embodiment 2)

[0075] Embodiment 2 has a structure generally common to Embodiment 1 except for the structure of the second magnet 18. Hereinafter, the present embodiment will be described with the focus on the structure different from Embodiment 1, and a common structure will be simply described or omitted.

[0076] Figure 10 is a diagram illustrating a structure for rotating the shaft section 36 in the workpiece transport apparatus 1 of Embodiment 2. The second magnet 18 of the present embodiment, like Embodiment 1, alternately generates a magnetic force of the N pole and a magnetic force of the S pole in the transport direction D1 of the holding head 2. As one example, the second magnet 18 alternately magnetizes the N pole and the S pole in the transport direction D1 of the holding head 2. On the other hand, the second magnet 18 of the present embodiment, unlike Embodiment 1, does not rotate around the rotation axis Ax. In such a structure, by the transport (movement) of the holding head 2, the magnetic poles of the portions in the second magnet 18 that generate the magnetic force to the first magnet 48 are alternately switched. Thereby, it is possible to rotate the shaft section 36 and operate the first pump section 34a to the fourth pump section 34d.

[0077] Therefore, according to the workpiece transport apparatus 1 of the present embodiment, it is also possible to improve the design freedom of the workpiece transport apparatus 1. Further, in the workpiece transport apparatus 1 of the present embodiment, it is necessary to continuously move the holding head 2 in order to maintain the holding force of the holding section 28, but since it is possible to omit the structure for rotating the second magnet 18, it is possible to simplify the structure of the workpiece transport apparatus 1.

[0078] The foregoing describes the embodiments of the present disclosure in detail. The foregoing embodiments merely show specific examples in implementing the present disclosure. The contents of the embodiments do not limit the technical scope of the present disclosure, and various design changes such as changes, additions, deletions, and the like of the constituent elements can be made without departing from the scope of the idea of the present disclosure defined by the claims. The new embodiments with the design changes have the effects of the combined embodiments and the variations. In the foregoing embodiments, the contents capable of such design changes are emphasized by the expressions "of the present embodiment", "in the present embodiment", and the like, and the design changes are allowed even without such expressions. Any combination of the foregoing constituent elements is also effective as the present invention. The hatching of the cross-sectional marks in the drawings does not limit the material of the object to which the hatching is applied.

[0079] (Modified Example 1)

[0080] In the embodiments 1 and 2, the pump portion 34 attracts the gas via the holding portion 28 to generate the suction force as the holding force, but is not limited thereto, and the holding force can be generated by the pump portion 34 to eject the gas to the holding portion 28. For example, the holding portion 28 is constituted by a driving structure such as a cylinder driven by pressurization, a gripping jaw that switches the gripping and releasing of the workpiece W by the driving structure, and the like. Also, the exhaust port 46 of the pump portion 34 communicates with the holding portion 28 through the vacuum pipe 38. When the pump portion 34 is driven, the gas is ejected to the holding portion 28 to pressurize the driving structure. Thus, the gripping jaw grips the workpiece W. That is, by the pump portion 34 to eject the gas to the holding portion 28, the holding portion 28 can generate the holding force.

[0081] (Modified Example 2)

[0082] The second magnet 18 of the embodiments 1 and 2 is a permanent magnet in which the N pole and the S pole are alternately magnetized in the transport direction D1 of the holding head 2, but is not limited thereto, and the second magnet 18 can be constituted by an electromagnet. Figure 11 is a perspective view of a part of the second magnet 18 provided in the workpiece conveying device 1 of the modified example 2.

[0083] The second magnet 18 of the modification 2 has a structure in which a plurality of the substantially U-shaped magnetic members 60 in which the coils 58 are wound are arranged in the transport direction Dl as an example. Each of the magnetic members 60 generates a magnetic force at the first end portion 60a and the second end portion 60b by energizing the coil 58 wound around the intermediate portion. The first end portions 60a of the magnetic members 60 are arranged so as to be continuous in the transport direction Dl and generate a magnetic force between the first magnets 48 of the transported holding heads 2. Further, the energization of each of the coils 58 is performed in such a manner that different magnetic forces of different magnetic poles are generated at adjacent first end portions 60a. Thus, the second magnet 18 can generate a magnetic force of the N pole and a magnetic force of the S pole alternately in the transport direction Dl of the holding heads 2. The energization of each of the coils 58 is controlled by the control device 16, for example.

[0084] Industrial applicability

[0085] The present disclosure can be utilized in a workpiece transport device.

[0086] Explanation of reference numerals

[0087] 1 workpiece transport device, 2 holding head, 4 transport track, 12 receiving portion, 14 transfer portion, 18 second magnet, 22 vacuum pump, 24 holding release valve, 28 holding portion, 34 pump portion, 36 shaft portion, 48 first magnet, 54 third magnet, 56 fourth magnet, W workpiece

Claims

1. A workpiece conveying device, comprising: Multiple holding heads, each having a workpiece holding portion, and a vacuum pump that generates a holding force in the holding portion, and A transport track transports multiple of the aforementioned holding heads; The vacuum pump has: a pump section connected to the holding section for drawing gas through the holding section or ejecting gas into the holding section; and a shaft section for rotating the pump section. The shaft portion has a first magnet with N and S poles alternately magnetized around the shaft. The transport track has a second magnet along the transport direction of the holding head, the second magnet being configured to alternately generate N-pole magnetic force and S-pole magnetic force in the transport direction, and to generate magnetic force between the second magnet and the first magnet of the transported holding head. The shaft rotates by alternately switching the magnetic poles of the portion of the second magnet that generates magnetic force relative to the first magnet, and the pump section attracts or ejects gas to generate the holding force.

2. The workpiece conveying device according to claim 1, The second magnet rotates about a rotation axis extending along the transmission direction, with the N pole and S pole spirally formed around the rotation axis. By rotating the second magnet, the magnetic poles of the portion of the second magnet that generates magnetic force relative to the first magnet are alternately switched.

3. The workpiece conveying device according to claim 1 or 2, Through the transmission of the holding head, the magnetic poles of the portion of the second magnet that generates magnetic force relative to the first magnet alternately switch.

4. The workpiece conveying device according to claim 1 or 2, The vacuum pump has multiple pump sections. The retaining force is generated by the rotation of the common shaft in each pump section.

5. The workpiece conveying device according to claim 4, The holding head holds a workpiece by at least two of the pump sections.

6. The workpiece conveying device according to claim 4, The holding head holds multiple workpieces.

7. The workpiece conveying device according to claim 1 or 2, The retaining head has a retaining release valve to release the retaining force. The holding release valve has a third magnet. The conveyor track, at the position where the holding head releases the workpiece, has a fourth magnet configured to generate a magnetic force between itself and the third magnet. The holding release valve switches its open / closed state by generating a magnetic force between the third and fourth magnets, thereby releasing the holding force.

8. The workpiece conveying device according to claim 1 or 2, The transport track has multiple branches.

9. The workpiece conveying device according to claim 1 or 2, The workpiece includes at least one of the battery's electrode plate and spacer.

10. The workpiece conveying device according to claim 9, The workpiece is a unit laminate containing the electrode plates and spacers. The conveying track includes: a receiving section, through which the holding head receives the unit laminate from the unit laminate manufacturing apparatus; and a transfer section, through which the holding head releases the unit laminate to a laminating apparatus for laminating multiple unit laminates to manufacture a laminated electrode body. The handover section is provided in multiple ways for one receiving section.

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