Stacking device and stacking system

Abstract

The present invention relates to a stacking apparatus and a stacking system. The stacking apparatus (100) comprises: a stacking stage (10) having a stacking surface (10a) for stacking an object (1) on the stacking surface; a correction mechanism (20) capable of moving the stacking stage (10) in a direction parallel to the stacking surface; a drive mechanism (30) capable of moving the stacking stage (10) in a direction orthogonal to the stacking surface; and a direct motion mechanism (40) connecting the stacking stage (10) to the correction mechanism (20), having a degree of freedom of movement in the direction orthogonal to the stacking surface, but being restricted in the direction parallel to the stacking surface. The drive mechanism (30) includes: a main body (31) disposed at a position that does not overlap with the stacking stage (10) in a direction orthogonal to the stacking surface; and an arm (32) configured to extend from the main body (31) between the stacking stage (10) and the correction mechanism (20) to support the stacking stage (10) and be movable in a direction orthogonal to the stacking surface.

Description

Technical Field

[0001] This invention relates to a stacking apparatus and a stacking system for stacked objects. Background Technology

[0002] Previously, there were known stacking devices that stack objects on a stacking platform.

[0003] As one such stacking device, Patent Document 1 discloses a molding apparatus that stacks material layers transported by a transfer body onto a stacking platform. In the molding apparatus described in Patent Document 1, the configuration includes detecting the position of the material layer on the transfer body, measuring the positional offset of the material layer, and, based on the measured positional offset, correcting the position of the stacking platform using a stage correction mechanism disposed vertically below the stacking platform.

[0004] Furthermore, in the molding device described in Patent Document 1, a platform lifting mechanism is arranged vertically below the platform correction mechanism. The platform lifting mechanism is configured such that by raising and lowering the stacking platform together with the platform correction mechanism, the vertical position of the stacking platform can be adjusted.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2017-47679

[0006] However, in the shaping device described in Patent Document 1, when the stacking platform is raised and lowered, the stage correction mechanism is also raised and lowered at the same time. Therefore, compared with the structure that only raises and lowers the stacking platform, a larger driving force is required, and the stage raising and lowering mechanism is larger. Summary of the Invention

[0007] The present invention was made to solve the above-mentioned problems, and its object is to provide a stacking device and a stacking system, wherein the stacking device enables miniaturization of the drive mechanism that enables the stacking stage to move in a direction orthogonal to the stacking surface, and the stacking system includes such a stacking device.

[0008] The stacking apparatus of the present invention is characterized by comprising: a stacking stage having a stacking surface for stacking objects onto the stacking surface; a correction mechanism capable of moving the stacking stage in a direction parallel to the stacking surface; a drive mechanism capable of moving the stacking stage in a direction orthogonal to the stacking surface; and a direct drive mechanism connecting the stacking stage to the correction mechanism, having a degree of freedom of movement in a direction orthogonal to the stacking surface, but with restricted movement in a direction parallel to the stacking surface. The drive mechanism comprises: a main body disposed at a position not overlapping the stacking stage in a direction orthogonal to the stacking surface; and an arm configured to extend from the main body between the stacking stage and the correction mechanism to support the stacking stage, and capable of moving in a direction orthogonal to the stacking surface.

[0009] The stacking system of the present invention is characterized by comprising: a plurality of supply mechanisms for supplying the stacked object to each of a plurality of supply positions; and a moving mechanism comprising a stator of a linear motor having a predetermined travel track, and a movable member of the linear motor capable of moving along the travel track between the plurality of supply positions, the movable member comprising the stacking device.

[0010] According to the lamination apparatus of the present invention, the arm of the drive mechanism is configured to extend from the main body, located at a position not overlapping the lamination stage in a direction orthogonal to the lamination surface of the lamination stage, between the lamination stage and the correction mechanism, to support the lamination stage and be movable in a direction orthogonal to the lamination surface. Therefore, by moving the arm in a direction orthogonal to the lamination surface, the lamination stage can be moved independently of the correction mechanism in a direction orthogonal to the lamination surface. Thus, compared to a structure that drives both the lamination stage and the correction mechanism simultaneously, the drive mechanism can be miniaturized.

[0011] The stacking system according to the present invention includes a plurality of supply mechanisms for supplying stacked objects and a moving mechanism, wherein the movable member of the moving mechanism includes the aforementioned stacking device. This allows for miniaturization of the movable member, thereby enabling miniaturization of the stacking system. Attached Figure Description

[0012] Figure 1 This is a side view schematically illustrating the structure of a stacking device in one embodiment.

[0013] Figure 2 This is a top view used to illustrate the direction of movement of the stacking stage, which is moved by the correction mechanism.

[0014] Figure 3 It is a top view schematically representing the structure of the support plate.

[0015] Figure 4 This is a top view schematically illustrating the structure of a stacking system including a stacking device in one embodiment.

[0016] Figure 5 It is a schematic diagram showing the structure of the movable part of the moving mechanism when viewed along the direction of the stator's travel track. Detailed Implementation

[0017] The following describes embodiments of the present invention and provides a detailed explanation of its features.

[0018] Figure 1 This is a side view schematically illustrating the structure of a stacking device 100 in one embodiment. The stacking device 100 in one embodiment includes a stacking stage 10, a correction mechanism 20, a drive mechanism 30, and a direct motion mechanism 40.

[0019] The stacking stage 10 is a stage having a stacking surface 10a and used to stack the object 1 onto the stacking surface 10a. The stacking stage 10 is made of, for example, ceramic, metal plate, etc., and preferably of aluminum, which is highly rigid and lightweight. The shape of the stacking surface 10a can be arbitrary. For example, the shape of the stacking surface 10a when viewed along a direction orthogonal to it is rectangular. Figure 1 In this specification, the direction orthogonal to the lamination surface 10a is the Z-axis direction, and the direction parallel to the lamination surface 10a is the direction parallel to both the X-axis and Y-axis directions. In this specification, the direction orthogonal to the lamination surface 10a of the lamination stage 10 is sometimes referred to as the Z-axis direction. For example... Figure 1 As shown, when the direction parallel to the lamination surface 10a is the horizontal direction, the direction orthogonal to the lamination surface 10a is the vertical direction. Furthermore, any two of the X-axis, Y-axis, and Z-axis are in a mutually orthogonal positional relationship.

[0020] The stacked object 1, stacked on the stacking stage 10, has, for example, a sheet-like shape. However, the stacked object 1 is not limited to a sheet-like shape. The stacked object 1 is sequentially stacked on the stacking surface 10a of the stacking stage 10. As an example, the stacked object 1 is stacked on the stacking stage 10 by means of a holding part that holds the stacked object 1. The stacking apparatus 100 may also include such a holding part.

[0021] In order to suppress the positional displacement of the stacked object 1 on the stacking surface 10a of the stacking stage 10, the correction mechanism 20 can move the stacking stage 10 in a direction parallel to the stacking surface 10a. Figure 2 This is a top view used to illustrate the direction of movement of the stacking stage 10, which moves via the correction mechanism 20. As an example, such as... Figure 2 As shown, the correction mechanism 20 can move the stacking stage 10 along the X-axis, Y-axis and θ-axis, which is the direction of rotation around the center of the stacking stage 10.

[0022] In this embodiment, such as Figure 1 As shown, the correction mechanism 20 is disposed on the side opposite to the stacking surface 10a relative to the stacking stage 10, and at least a portion thereof is disposed at a position overlapping the stacking stage 10 in a direction orthogonal to the stacking surface 10a. Figure 1 As shown, the stacking stage 10 and the correction mechanism 20 are not in direct contact. There may be space between the stacking stage 10 and the correction mechanism 20, or other components may be arranged there.

[0023] The linear motion mechanism 40 connects the stacking stage 10 to the correction mechanism 20, and has a degree of freedom of movement in a direction orthogonal to the stacking surface 10a of the stacking stage 10, but its movement in a direction parallel to the stacking surface 10a is restricted. The linear motion mechanism 40 is, for example, a linear axis. By using the linear motion mechanism 40 to connect the stacking stage 10 and the correction mechanism 20, the stacking stage 10 can be moved independently of the correction mechanism 20 in a direction orthogonal to the stacking surface 10a.

[0024] Furthermore, by using a linear motion mechanism 40 to connect the stacking stage 10 and the correction mechanism 20, the correction mechanism 20 can move the stacking stage 10 with high precision in a direction parallel to the stacking surface 10a. For example, the correction mechanism 20 can have a UVW stage capable of moving along the X-axis, Y-axis, and θ-axis, and can employ a structure that connects the UVW stage to the stacking stage 10 via the linear motion mechanism 40. In this case, when the UVW stage of the correction mechanism 20 moves along the X-axis, the stacking stage 10 also moves by the same amount along the X-axis; when the UVW stage moves along the Y-axis, the stacking stage 10 also moves by the same amount along the Y-axis; and when the UVW stage moves along the θ-axis, the stacking stage 10 also moves by the same amount along the θ-axis. However, the correction mechanism 20 can also be a structure that includes an XYθ stage comprising three stages capable of moving along the X-axis, Y-axis, and θ-axis respectively, instead of a single UVW stage.

[0025] The stacking device 100 may also include an elastic member 50, which connects the stacking stage 10 to the correction mechanism 20 and applies a force to the stacking stage 10 in a direction approaching the correction mechanism 20. The elastic member 50 is, for example, a spring. Because the stacking device 100 includes the elastic member 50, the stacking stage 10 is pressed towards the arm 32 of the drive mechanism 30 (described later). Therefore, as described later, when the stacking stage 10 is moved in a direction orthogonal to the stacking surface 10a via the arm 32, it can move stably.

[0026] The drive mechanism 30 enables the stacking stage 10 to move in a direction orthogonal to the stacking surface 10a. The drive mechanism 30 includes: a main body 31 positioned not to overlap with the stacking stage 10 in a direction orthogonal to the stacking surface 10a; and an arm 32 configured to extend from the main body 31 between the stacking stage 10 and the correction mechanism 20 to support the stacking stage 10, and to be movable in a direction orthogonal to the stacking surface 10a. However, "positioned not to overlap with the stacking stage 10" means that the correction mechanism 20 does not support the weight of the main body 31. The drive mechanism 30 may also include a motor 35 for moving the arm 32 in a direction orthogonal to the stacking surface 10a.

[0027] The main body 31 of the drive mechanism 30 has a shape that extends along the Z-axis. One end of the arm 32 is mounted on the main body 31 in such a way that it can move along the Z-axis direction along the main body 31 which has a shape that extends along the Z-axis, and the other end is located between the stacking stage 10 and the correction mechanism 20.

[0028] In this embodiment, the arm 32 can also be connected to the base 60, which is not moved by the correction mechanism 20, via a linear motion mechanism 41. The linear motion mechanism 41 is, for example, a linear shaft. The arm 32 is configured, for example, to move along the main body 31 in the Z-axis direction using the same structure as a ball screw where the nut mounted on the lead screw shaft moves along the lead screw shaft. That is, the main body 31, having a shape extending along the Z-axis direction, corresponds to the lead screw shaft of the ball screw, and the portion of the arm 32 mounted on the main body 31 corresponds to the nut of the ball screw. When using this structure similar to that of a ball screw, it is preferable that the arm 32 and the linear motion mechanism 41 are not fixed by the correction mechanism 20 so that their positions are not changed by the correction mechanism 20. Driven by the motor 35, the main body 31 rotates around a rotation axis parallel to the Z-axis, thereby moving the arm 32 in the Z-axis direction. However, the structure in which the arm 32 moves in a direction orthogonal to the lamination surface 10a of the lamination stage 10 is not limited to the above-described structure.

[0029] The drive mechanism 30 may also include a support plate 33 for supporting the stacking stage 10. The support plate 33 is mounted on the arm portion 32. The support plate 33 has a support surface 33a that contacts the stacking stage 10 with a larger area compared to the case where the stacking stage 10 is supported only by the arm portion 32. Therefore, by including the support plate 33 in the drive mechanism 30, the stacking stage 10 can be supported more stably by the support plate 33, thereby enabling more stable movement of the stacking stage 10 in a direction orthogonal to the stacking surface 10a.

[0030] The support surface 33a of the support plate 33 preferably has sliding properties relative to the stacking platform 10. Figure 3 This is a schematic top view showing the structure of the support plate 33. Figure 3 In the example shown, a plurality of sliding materials, such as sliding resin 34, are disposed on the support surface 33a of the support plate 33. For example, Teflon (registered trademark), ultra-high molecular weight polyethylene, etc., can be used as the sliding resin 34.

[0031] As described above, the arm 32 of the drive mechanism 30 can move in a direction orthogonal to the lamination surface 10a of the lamination stage 10. When the arm 32 moves in a direction orthogonal to the lamination surface 10a, the support plate 33 mounted on the arm 32 also moves integrally with the arm 32. As a result, the lamination stage 10 supported by the support plate 33 also moves in a direction orthogonal to the lamination surface 10a. That is, by moving the arm 32 of the drive mechanism 30 in a direction orthogonal to the lamination surface 10a, the lamination stage 10 can be moved in a direction orthogonal to the lamination surface 10a. Since the arm 32 extends from the main body 31 between the lamination stage 10 and the correction mechanism 20 to support the lamination stage 10, only the lamination stage 10 can be moved in a direction orthogonal to the lamination surface 10a. That is, the correction mechanism 20 will not move due to the movement of the arm 32.

[0032] Thus, in the stacking apparatus 100 of this embodiment, the drive mechanism 30 can move only the stacking stage 10 in a direction orthogonal to the stacking surface 10a. Therefore, compared with the structure in which the stacking stage 10 and the correction mechanism 20 move simultaneously, the drive mechanism 30 can be miniaturized. For example, if the drive mechanism 30 includes a motor 35 and is configured to move the stacking stage 10 by moving the arm 32 with the driving force of the motor 35, the motor 35 can be miniaturized.

[0033] Furthermore, since the main body 31 of the drive mechanism 30 is positioned in a direction orthogonal to the stacking surface 10a of the stacking platform 10, it does not overlap with the stacking platform 10, thus increasing the design freedom compared to a structure positioned to overlap with the stacking platform 10.

[0034] Furthermore, when the drive mechanism 30 includes a support plate 33, and the support surface 33a of the support plate 33 is slidable relative to the stacking stage 10, the movement of the stacking stage 10 using the correction mechanism 20 and the movement of the stacking stage 10 using the drive mechanism 30 can be performed in parallel. That is, since the support surface 33a of the support plate 33 is slidable relative to the stacking stage 10, the stacking stage 10, while supported by the support plate 33, can also move in a direction parallel to the stacking surface 10a via the correction mechanism 20. Therefore, the movement of the stacking stage 10 in a direction parallel to the stacking surface 10a via the correction mechanism 20 and the movement of the stacking stage 10 in a direction orthogonal to the stacking surface 10a via the drive mechanism 30 can be performed simultaneously, thus enabling position correction of the stacking stage 10 in a short time. As a result, the stacking time of the stacking object 1 to the stacking stage 10 can be shortened.

[0035] (Layered system)

[0036] Next, the structure of the stacking system 200 having the stacking device 100 in one of the above embodiments will be described.

[0037] Figure 4 This is a top view schematically illustrating the structure of a stacking system 200 including the stacking apparatus 100 in one embodiment. The stacking system 200 includes multiple supply mechanisms 210 and moving mechanisms 220. The stacking system 200 may also include a control unit that controls the operation of the multiple supply mechanisms 210 and the moving mechanisms 220. As described below, the stacking apparatus 100 is included in the moving mechanism 220. Here, an example of a sheet-shaped battery material being stacked is described. However, the stacked object 1 is not limited to sheet-shaped battery materials.

[0038] Multiple supply mechanisms 210 supply stacked object 1 to each of multiple supply positions A1 to A4. Each of the multiple supply positions A1 to A4 is supplied with a stacked object 1. In this embodiment, the multiple supply mechanisms 210 include four supply mechanisms: a first supply mechanism 210a, a second supply mechanism 210b, a third supply mechanism 210c, and a fourth supply mechanism 210d. However, the number of multiple supply mechanisms 210 is not limited to four.

[0039] The first supply mechanism 210a supplies the laminated object 1 to the first supply position A1. The laminated object 1 supplied by the first supply mechanism 210a is, for example, a resin film. The resin film is a sheet-like battery material that functions as a separator, and is made of, for example, polyethylene. In this embodiment, the first supply mechanism 210a is a belt conveyor that transports and supplies the laminated object 1, which is placed on the belt, to the first supply position A1.

[0040] The second supply mechanism 210b supplies the laminated object 1 to the second supply position A2. The laminated object 1 supplied by the second supply mechanism 210b is, for example, a first metal foil. The first metal foil is a sheet-like battery material that functions as one of the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the second supply mechanism 210b is a belt conveyor that transports and supplies the laminated object 1, which is placed on the belt, to the second supply position A2.

[0041] The third supply mechanism 210c supplies the laminated object 1 to the third supply position A3. The laminated object 1 supplied by the third supply mechanism 210c is, for example, a resin film. The resin film is a sheet-like battery material that functions as a separator, and is made of, for example, polyethylene. The resin film supplied by the third supply mechanism 210c can be the same resin film supplied by the first supply mechanism 210a. However, a different resin film from the resin film supplied by the first supply mechanism 210a can also be used. In this embodiment, the third supply mechanism 210c is a belt conveyor that transports and supplies the laminated object 1, which is mounted on a belt, to the third supply position A3.

[0042] The fourth supply mechanism 210d supplies the laminated object 1 to the fourth supply position A4. The laminated object 1 supplied by the fourth supply mechanism 210d is, for example, a second metal foil. The second metal foil is a sheet-like battery material that functions as another electrode in the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the fourth supply mechanism 210d is a belt conveyor that transports and supplies the laminated object 1, which is mounted on a belt, to the fourth supply position A4.

[0043] Furthermore, the first supply mechanism 210a, the second supply mechanism 210b, the third supply mechanism 210c, and the fourth supply mechanism 210d are not limited to belt conveyors, as long as they are structures capable of transporting the stacked object 1 and supplying it to the supply position.

[0044] Alternatively, the supply mechanism 210 may be configured to transport a long, strip-shaped stacked object 1 instead of transporting a segmented stacked object 1. In this case, the long, strip-shaped stacked object 1 can be cut into segments at supply positions A1 to A4. Furthermore, in this embodiment, the shape of the stacked object 1 is rectangular, but it can also be a shape other than a rectangle.

[0045] The moving mechanism 220 includes a stator 221 of a linear motor having a predetermined travel path, and a movable member 222 of the linear motor capable of moving along the travel path between multiple supply positions A1 to A4. In this embodiment, as... Figure 4 As shown, the travel track of stator 221 has an elliptical ring shape when viewed from above. However, the shape of the travel track when viewed from above is not limited to an elliptical ring shape.

[0046] In this embodiment, the movable member 222 includes a first movable member 222a, a second movable member 222b, a third movable member 222c, a fourth movable member 222d, a fifth movable member 222e, a sixth movable member 222f, a seventh movable member 222g, and an eighth movable member 222h. Each movable member 222a to 222h can move independently. By including multiple movable members 222a to 222h in the moving mechanism 220, the stacked object 1 can be transported and stacked effectively in a short time.

[0047] Figure 5 This is a schematic diagram illustrating the structure of the movable element 222 of the moving mechanism 220 when viewed along the direction of the travel track of the stator 221. (See diagram for example.) Figure 5 As shown, the movable member 222 includes a stacking device 100 and a holding portion 230 as described in one embodiment. Furthermore, in Figure 5 In this diagram, the X-axis is the direction in which the supply mechanism 210 conveys the stacked object 1, and the Y-axis is the direction in which the movable member 222 moves along the travel track. Additionally, the Z-axis is the vertical direction.

[0048] The holding section 230 holds the stacked object 1 delivered by the supply mechanism 210. The holding section 230 is movable along the Z-axis. In this embodiment, the holding section 230 approaches the stacked object 1 from above by descending, and adsorbs and holds the stacked object 1 by attracting it. However, the method by which the holding section 230 holds the stacked object 1 is not limited to adsorption.

[0049] The holding portion 230 holding the stacked object 1 descends toward the stacking stage 10. In this embodiment, as described later, during the movement of the movable member 222 along the travel track of the stator 221, the holding portion 230 descends by a predetermined amount, releasing the adsorption of the stacked object 1 and stacking the stacked object 1 onto the stacking stage 10. The holding portion 230 is configured to descend by a predetermined amount, thereby simplifying the structure of the holding portion 230 compared to the case where the descent amount of the holding portion 230 is adjusted according to the number of stacked objects 1 stacked on the stacking stage 10. However, when stacked objects 1 are stacked on the stacking stage 10, "stacking the stacked object 1 onto the stacking stage 10" means stacking the stacked object 1 onto the stacked object 1 stacked on the stacking stage 10.

[0050] Before the stacked object 1 is stacked on the stacking stage 10 via the holding part 230, the correction mechanism 20 performs position offset correction, causing the stacking stage 10 to move in a direction parallel to the stacking surface 10a. The drive mechanism 30 moves the stacking stage 10 along the Z-axis direction according to the number of stacked objects 1 on the stacking stage 10. The detailed method of position offset correction performed by the correction mechanism 20 will be described later.

[0051] When a stacked object is placed on the stacking table 10, the drive mechanism 30 lowers the stacking table 10 by the thickness of the stacked object 1. Thus, even in a structure where the holding part 230 holding the stacked object 1 is lowered by a predetermined amount, the stacked object 1 can be stacked sequentially on the stacking table 10.

[0052] In this embodiment, such as Figure 5 As shown, the movable element 222 is mounted on two guide rails 223 of the stator 221 that form the travel track, and moves along the guide rails 223. Figure 5 As shown, the guide rail 223 of the stator 221 is not located vertically below the movable member 222, but is located to the side. In the configuration where the guide rail 223 is located vertically below the movable member 222, control must be implemented taking into account the inner wheel difference between the two guide rails 223. However, in the configuration where the guide rail 223 is located to the side, the inner wheel difference does not need to be considered, and control becomes simpler.

[0053] The stacking system 200 of this embodiment also includes a photographing device 240 for photographing the stacked object 1 supplied by the supply mechanism 210. The photographing device 240 is disposed vertically above the stacked object 1 at the supply positions A1 to A4, and photographs the stacked object 1 in the state where it is supplied to the supply positions A1 to A4 by the supply mechanism 210 and then stops.

[0054] In order to determine the position and orientation of the stacked object 1, the imaging device 240 captures images of the stacked object 1. For example, if the imaging device 240 can capture images of the rectangular stacked object 1 and determine the position of the corners of the stacked object 1, then the position and orientation of the stacked object 1 can be determined.

[0055] In addition, Figure 5 In the image, it can be seen that a portion of the movable member 222 exists in the optical path during the shooting by the shooting device 240, but for example, a cut is provided in the movable member 222 so that the stacked object 1 at the supply position can be photographed.

[0056] In this embodiment, four supply positions A1 to A4 are provided for supplying four types of stacked objects 1. Therefore, four imaging devices 240 are provided corresponding to the four supply positions A1 to A4. Specifically, a first imaging device 240a is provided vertically above the first supply position A1, a second imaging device 240b is provided vertically above the second supply position A2, a third imaging device 240c is provided vertically above the third supply position A3, and a fourth imaging device 240d is provided vertically above the fourth supply position A4.

[0057] The correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a based on an image of the stacked object 1 captured by the imaging device 240, thereby correcting the relative position of the stacking stage 10 with respect to the stacked object 1. This allows for the generation of a stacked body in which positional shift of the stacked object 1 is suppressed when it is stacked on the stacking stage 10. However, the method for correcting the relative position of the stacking stage 10 with respect to the stacked object 1 is not limited to a method based on an image of the stacked object 1.

[0058] The following describes a method for sequentially stacking four types of objects 1 using a stacking system 200 equipped with a stacking device 100 as described in one embodiment. Here, the operation of the first movable member 222a among the eight movable members 222 in stacking the object 1 will be described, but the operation of the other movable members 222b to 222h in stacking the object 1 is the same. That is, if the time it takes for the first movable member 222a to travel one revolution around the stator 221 is set as T, then the eighth movable member 222h at a delay of T / 8, the seventh movable member 222g at a delay of (2T) / 8, the sixth movable member 222f at a delay of (3T) / 8, the fifth movable member 222e at a delay of (4T) / 8, the fourth movable member 222d at a delay of (5T) / 8, the third movable member 222c at a delay of (6T) / 8, and the second movable member 222b at a delay of (7T) / 8 perform the same action as the first movable member 222a.

[0059] Here, it is explained that the stacking system 200 has a control unit that controls the operation of multiple supply mechanisms 210 and multiple moving mechanisms 220.

[0060] (S1) The control unit controls the first supply mechanism 210a to supply the resin film, which is the laminated object 1, to the first supply position A1, and stops the first movable member 222a at the first supply position A1. Additionally, the control unit controls the first imaging device 240a to photograph the laminated object 1 stopped at the first supply position A1. After the first imaging device 240a photographs the laminated object 1, the control unit lowers the holding part 230 and holds the laminated object 1 at the first supply position A1.

[0061] Furthermore, when the first movable member 222a stops at the first supply position A1, the third movable member 222c stops at the second supply position A2, the fifth movable member 222e stops at the third supply position A3, and the seventh movable member 222g stops at the fourth supply position A4. As will be described later, the third movable member 222c, the fifth movable member 222e, and the seventh movable member 222g, like the first movable member 222a, hold the stacked object 1 supplied to each supply position A1 to A4 in the holding part 230, and stack the stacked object 1 on the stacking table 10 during the period until it moves to the next supply position A1 to A4 and stops.

[0062] Furthermore, when the first movable member 222a stops at the first supply position A1, the second movable member 222b is located between the first supply position A1 and the second supply position A2, the fourth movable member 222d is located between the second supply position A2 and the third supply position A3, the sixth movable member 222f is located between the third supply position A3 and the fourth supply position A4, and the eighth movable member 222h is located between the fourth supply position A4 and the first supply position A1. As will be described later, during the period when the second movable member 222b, the fourth movable member 222d, the sixth movable member 222f, and the eighth movable member 222h move to the next supply position A1 to A4 and stop, the relative position of the stacking table 10 relative to the stacked object 1 is corrected and the stacking is performed.

[0063] (S2) Next, the control unit moves the first movable member 222a along the travel track from the first supply position A1 to the second supply position A2. During the period until the first movable member 222a moves from the first supply position A1 to the second supply position A2 and stops, the correction mechanism 20 moves the stacking table 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking table 10 in a direction orthogonal to the stacking surface 10a. Specifically, the correction mechanism 20 moves the stacking table 10 in a direction parallel to the stacking surface 10a based on the image of the stacked object 1 captured by the first imaging device 240a, thereby correcting the relative position of the stacking table 10 with respect to the stacked object 1 supplied to the first supply position A1. In addition, the drive mechanism 30 moves the stacking table 10 in a direction orthogonal to the stacking surface 10a according to the number of stacked objects 1 stacked on the stacking table 10. The movement of the stacking stage 10 using the correction mechanism 20 and the movement of the stacking stage 10 using the drive mechanism 30 can be performed simultaneously or at different times.

[0064] Then, the control unit lowers the holding unit 230 by a predetermined amount, thereby releasing the holding unit 230 from adhering to the stacked object 1. As a result, the stacked object 1 is stacked on the stacking table 10.

[0065] Furthermore, the control unit not only moves the first movable member 222a from the first supply position A1 to the second supply position A2, but also moves the third movable member 222c from the second supply position A2 to the third supply position A3, moves the fifth movable member 222e from the third supply position A3 to the fourth supply position A4, moves the seventh movable member 222g from the fourth supply position A4 to the first supply position A1, and moves the second movable member 222b, the fourth movable member 222d, the sixth movable member 222f, and the eighth movable member 222h.

[0066] (S3) Next, the control unit controls the second supply mechanism 210b to supply the first metal foil, which is the object to be stacked 1, to the second supply position A2, and stops the first movable member 222a at the second supply position A2. Additionally, the control unit controls the second imaging device 240b to photograph the object to be stacked 1 stopped at the second supply position A2. After the second imaging device 240b photographs the object to be stacked 1, the control unit lowers the holding part 230 and holds the object to be stacked 1 at the second supply position A2.

[0067] Furthermore, when the first movable element 222a stops at the second supply position A2, the third movable element 222c stops at the third supply position A3, the fifth movable element 222e stops at the fourth supply position A4, and the seventh movable element 222g stops at the first supply position A1. Additionally, the second movable element 222b is located between the second supply position A2 and the third supply position A3, the fourth movable element 222d is located between the third supply position A3 and the fourth supply position A4, the sixth movable element 222f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable element 222h is located between the first supply position A1 and the second supply position A2.

[0068] (S4) Next, the control unit moves the first movable member 222a along the travel track from the second supply position A2 to the third supply position A3. During the period until the first movable member 222a moves from the second supply position A2 to the third supply position A3 and stops, the correction mechanism 20 moves the stacking table 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking table 10 in a direction orthogonal to the stacking surface 10a. Specifically, the correction mechanism 20 moves the stacking table 10 in a direction parallel to the stacking surface 10a based on the image of the stacked object 1 captured by the second imaging device 240b, thereby correcting the relative position of the stacking table 10 with respect to the stacked object 1 supplied to the second supply position A2. In addition, the drive mechanism 30 moves the stacking table 10 in a direction orthogonal to the stacking surface 10a according to the number of stacked objects 1 stacked on the stacking table 10. More specifically, the drive mechanism 30 lowers the stacking stage 10 by the amount of thickness of the newly stacked object 1 on the stacking stage 10. The operation of stacking the object 1 on the stacking stage 10 after the position of the stacking stage 10 is corrected is the same as the operation of stacking the object 1 supplied to the first supply position A1.

[0069] Furthermore, the control unit not only moves the first movable member 222a from the second supply position A2 to the third supply position A3, but also moves the third movable member 222c from the third supply position A3 to the fourth supply position A4, moves the fifth movable member 222e from the fourth supply position A4 to the first supply position A1, moves the seventh movable member 222g from the first supply position A1 to the second supply position A2, and moves the second movable member 222b, the fourth movable member 222d, the sixth movable member 222f, and the eighth movable member 222h.

[0070] (S5) Next, the control unit controls the third supply mechanism 210c to supply the resin film, which is the laminated object 1, to the third supply position A3, and stops the first movable member 222a at the third supply position A3. Additionally, the control unit controls the third imaging device 240c to photograph the laminated object 1 stopped at the third supply position A3. After the third imaging device 240c photographs the laminated object 1, the control unit lowers the holding part 230 and holds the laminated object 1 at the third supply position A3.

[0071] Furthermore, when the first movable member 222a stops at the third supply position A3, the third movable member 222c stops at the fourth supply position A4, the fifth movable member 222e stops at the first supply position A1, and the seventh movable member 222g stops at the second supply position A2. Additionally, the second movable member 222b is located between the third supply position A3 and the fourth supply position A4, the fourth movable member 222d is located between the fourth supply position A4 and the first supply position A1, the sixth movable member 222f is located between the first supply position A1 and the second supply position A2, and the eighth movable member 222h is located between the second supply position A2 and the third supply position A3.

[0072] (S6) Next, the control unit moves the first movable member 222a along the travel track from the third supply position A3 to the fourth supply position A4. During the period until the first movable member 222a moves from the third supply position A3 to the fourth supply position A4 and stops, the correction mechanism 20 moves the stacking table 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking table 10 in a direction orthogonal to the stacking surface 10a. Specifically, the correction mechanism 20 moves the stacking table 10 in a direction parallel to the stacking surface 10a based on the image of the stacked object 1 captured by the third imaging device 240c, thereby correcting the relative position of the stacking table 10 with respect to the stacked object 1 supplied to the third supply position A3. In addition, the drive mechanism 30 moves the stacking table 10 in a direction orthogonal to the stacking surface 10a according to the number of stacked objects 1 stacked on the stacking table 10. More specifically, the drive mechanism 30 lowers the stacking stage 10 by the amount of thickness of the newly stacked object 1 on the stacking stage 10. The operation of stacking the object 1 on the stacking stage 10 after the position of the stacking stage 10 is corrected is the same as the operation of stacking the object 1 supplied to the first supply position A1.

[0073] Furthermore, the control unit not only moves the first movable member 222a from the third supply position A3 to the fourth supply position A4, but also moves the third movable member 222c from the fourth supply position A4 to the first supply position A1, moves the fifth movable member 222e from the first supply position A1 to the second supply position A2, moves the seventh movable member 222g from the second supply position A2 to the third supply position A3, and moves the second movable member 222b, the fourth movable member 222d, the sixth movable member 222f, and the eighth movable member 222h.

[0074] (S7) Next, the control unit controls the fourth supply mechanism 210d to supply the second metal foil, which is the object to be stacked 1, to the fourth supply position A4, and stops the first movable member 222a at the fourth supply position A4. Additionally, the control unit controls the fourth imaging device 240d to photograph the object to be stacked 1 stopped at the fourth supply position A4. After the fourth imaging device 240d photographs the object to be stacked 1, the control unit lowers the holding part 230 and holds the object to be stacked 1 at the fourth supply position A4.

[0075] Furthermore, when the first movable member 222a stops at the fourth supply position A4, the third movable member 222c stops at the first supply position A1, the fifth movable member 222e stops at the second supply position A2, and the seventh movable member 222g stops at the third supply position A3. Additionally, the second movable member 222b is located between the fourth supply position A4 and the first supply position A1, the fourth movable member 222d is located between the first supply position A1 and the second supply position A2, the sixth movable member 222f is located between the second supply position A2 and the third supply position A3, and the eighth movable member 222h is located between the third supply position A3 and the fourth supply position A4.

[0076] (S8) Next, the control unit moves the first movable member 222a along the travel track from the fourth supply position A4 to the first supply position A1. During the period until the first movable member 222a moves from the fourth supply position A4 to the first supply position A1 and stops, the correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking stage 10 in a direction orthogonal to the stacking surface 10a. Specifically, the correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a based on the image of the stacked object 1 captured by the fourth imaging device 240d, thereby correcting the relative position of the stacking stage 10 with respect to the stacked object 1 supplied to the fourth supply position A4. In addition, the drive mechanism 30 moves the stacking stage 10 in a direction orthogonal to the stacking surface 10a according to the number of stacked objects 1 stacked on the stacking stage 10. More specifically, the drive mechanism 30 lowers the stacking stage 10 by the amount of thickness of the newly stacked object 1 on the stacking stage 10. The operation of stacking the object 1 on the stacking stage 10 after the position of the stacking stage 10 is corrected is the same as the operation of stacking the object 1 supplied to the first supply position A1.

[0077] Furthermore, the control unit not only moves the first movable member 222a from the fourth supply position A4 to the first supply position A1, but also moves the third movable member 222c from the first supply position A1 to the second supply position A2, moves the fifth movable member 222e from the second supply position A2 to the third supply position A3, moves the seventh movable member 222g from the third supply position A3 to the fourth supply position A4, and moves the second movable member 222b, the fourth movable member 222d, the sixth movable member 222f, and the eighth movable member 222h.

[0078] Through the processes (S1) to (S8) described above, a set of semi-finished products is obtained, which consists of four laminated objects 1, namely, a resin film, a first metal foil, a resin film, and a second metal foil, stacked sequentially. Then, by repeatedly performing processes (S1) to (S8), a product with a predetermined number of laminates is obtained, namely, multiple laminates in which positive and negative electrodes are alternately stacked with a resin film that functions as a separator. These laminates are used, for example, as constituent materials of a battery pack.

[0079] According to the above-described stacking system 200, by including the stacking device 100 in one embodiment, the movable member 222 of the moving mechanism 220 can be miniaturized, thereby reducing the force required to move the movable member 222. Furthermore, the stacking object 1 can be stacked with high precision. That is, in the above-described stacking system 200, if a conventional large stacking device is used instead of the stacking device 100 in one embodiment, the movable member 222 becomes large, requiring a large force to move it. Additionally, in the above-described stacking system 200, since the movable member 222 repeatedly moves and stops, if the stacking device is large, the inertia of the movable member 222 increases, causing swaying, potentially reducing the stacking precision of the stacking object 1. However, the stacking device 100 in one embodiment can be miniaturized as described above, thus suppressing the swaying of the movable member 222, thereby enabling the stacking of the stacking object 1 with high precision.

[0080] This invention is not limited to the above-described embodiments, and various applications and modifications can be made within the scope of this invention.

[0081] For example, the laminated object 1 is not limited to the sheet-like battery material described above. For example, multiple laminated objects 1 can be sheet-like conductive layers and insulating layers, and a multilayer substrate can be fabricated by laminating multiple laminated objects 1. In this case, the conductive layer is composed of, for example, copper, silver, copper-containing alloys, silver-containing alloys, or Sn-Ag-based solders, and the insulating layer is composed of, for example, thermoplastic resins such as liquid crystal polymers, polyetheretherketones, polyetherimides, and polyimides, or thermosetting resins such as epoxy resins and unsaturated polyesters.

[0082] In the above embodiment, the holding part 230 is configured to approach the supply mechanism 210 by descending to hold the stacked object 1, but it can also be configured to approach the holding part 230 by rising the supply mechanism 210.

[0083] The stacking apparatus and stacking system in this application are as follows.

[0084] <1>. A stacking device, characterized in that it comprises:

[0085] A stacking platform having a stacking surface for stacking objects onto the stacking surface;

[0086] The correction mechanism is capable of moving the aforementioned stacking platform in a direction parallel to the aforementioned stacking surface;

[0087] The drive mechanism enables the aforementioned stacking stage to move in a direction orthogonal to the aforementioned stacking surface; and

[0088] The direct-acting mechanism connects the aforementioned stacking stage to the aforementioned correction mechanism. It has a degree of freedom of movement in a direction orthogonal to the aforementioned stacking surface, but its movement in a direction parallel to the aforementioned stacking surface is restricted.

[0089] The aforementioned drive mechanism includes: a main body portion disposed at a position that does not overlap with the stacking platform in a direction orthogonal to the stacking surface; and an arm portion configured to extend from the main body portion between the stacking platform and the correction mechanism to support the stacking platform and be movable in a direction orthogonal to the stacking surface.

[0090] <2>. The stacking device according to <1> is characterized in that,

[0091] The aforementioned correction mechanism is disposed on the opposite side of the aforementioned stacking surface relative to the aforementioned stacking platform, and at least a portion thereof is disposed at a position overlapping the aforementioned stacking platform in a direction orthogonal to the aforementioned stacking surface.

[0092] <3>. The stacking device according to <1> or <2> is characterized in that,

[0093] The aforementioned direct-acting mechanism is a linear shaft.

[0094] <4>. The stacking device according to any one of <1> to <3>, characterized in that,

[0095] The aforementioned drive mechanism also includes a support plate for supporting the aforementioned stacking platform.

[0096] The aforementioned support plate is installed on the aforementioned arm.

[0097] <5>. The stacking device according to <4> is characterized in that,

[0098] The support surface of the aforementioned support plate that contacts the aforementioned stacked platform has sliding properties relative to the aforementioned stacked platform.

[0099] <6>. The stacking device according to any one of <1> to <5>, characterized in that,

[0100] It also includes an elastic member that connects the stacking platform and the correction mechanism and applies a force to the stacking platform in a direction close to that of the correction mechanism.

[0101] <7>. A stacked system, characterized in that it comprises:

[0102] Multiple supply units supply the aforementioned stacked objects to each of multiple supply locations; and

[0103] The moving mechanism includes a stator of a linear motor having a predetermined travel path, and a movable part of the linear motor capable of moving along the travel path between a plurality of the aforementioned supply positions.

[0104] The movable member described above has any one of the stacking devices described in <1> to <6>.

[0105] <8>. The stacking system according to <7> is characterized in that,

[0106] The aforementioned moving mechanism has multiple of the aforementioned movable parts.

[0107] Explanation of reference numerals in the attached figures

[0108] 1...Laminated object; 10...Laminating stage; 10a...Laminating surface; 20...Correction mechanism; 30...Drive mechanism; 31...Main body; 32...Arm; 33...Support plate; 33a...Supporting surface; 34...Sliding resin; 35...Motor; 40...Direct motion mechanism; 41...Direct motion mechanism; 50...Elastic component; 60...Base; 100...Laminating device; 200...Laminating system; 210...Supply mechanism; 220...Moving mechanism; 221...Stator; 222...Moving component; 223...Guide rail; 230...Holding part; 240...Picking device.

Claims

1. A layering device characterized by, have: A stacking platform having a stacking surface for stacking objects onto the stacking surface; The correction mechanism enables the stacking stage to move in a direction parallel to the stacking surface; A drive mechanism is provided to move the stacking stage in a direction orthogonal to the stacking surface; and The linear motion mechanism connects the stacking stage to the correction mechanism, and has a degree of freedom of movement in a direction orthogonal to the stacking surface, but its movement in a direction parallel to the stacking surface is restricted. The drive mechanism includes: a main body portion disposed at a position that does not overlap with the stacking stage in a direction orthogonal to the stacking surface; and an arm portion configured to extend from the main body portion between the stacking stage and the correction mechanism to support the stacking stage and be movable in a direction orthogonal to the stacking surface.

2. The stacking device according to claim 1, characterized in that, The correction mechanism is disposed on the opposite side of the stacking surface relative to the stacking stage, and at least a portion of the correction mechanism is disposed at a position overlapping the stacking stage in a direction orthogonal to the stacking surface.

3. The stacking device according to claim 1 or 2, characterized in that, The direct-acting mechanism is a linear shaft.

4. The stacking device according to claim 1 or 2, characterized in that, The drive mechanism also includes a support plate for supporting the stacking platform. The support plate is mounted on the arm.

5. The stacking device according to claim 4, characterized in that, The support surface of the support plate that contacts the stacking platform has sliding properties relative to the stacking platform.

6. The stacking device according to claim 1 or 2, characterized in that, It also includes an elastic component that connects the stacking stage to the correction mechanism, so that a force in the direction approaching the correction mechanism is applied to the stacking stage.

7. A stacked system, characterized in that, have: Multiple supply units supply the stacked object to each of multiple supply locations; and The moving mechanism comprises a stator of a linear motor having a predetermined travel path, and a movable part of the linear motor capable of moving along the travel path between a plurality of said supply positions. The movable element comprises the stacking device according to any one of claims 1 to 6.

8. The stacking system according to claim 7, characterized in that, The moving mechanism has multiple movable parts.

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