Laminating device and laminating system

Abstract

A laminating apparatus and a laminating system are provided. A lamination device (100) is provided with: a holding unit (10) that holds an object to be laminated (1), has a transparent part (12) through which imaging light can pass in a direction orthogonal to a holding surface (10a) in contact with the object to be laminated (1), and is provided with an alignment mark (13) on the transparent part (12); a laminating table (20) for laminating the object to be laminated (1) held by the holding unit (10); an imaging unit (30) that is disposed on the opposite side from the holding surface (10a) with respect to the holding unit (10) and that is capable of imaging, via the transparent part (12) of the holding unit (10), at least a portion of the object to be stacked (1) held by the holding unit (10) and the alignment mark (13); and a device control unit (40) that detects, on the basis of the image captured by the imaging unit (30), the misalignment of the object to be laminated (1) held by the holding unit (10), and that can correct, on the basis of the detected misalignment, the relative misalignment between the object to be laminated (1) held by the holding unit (10) and the laminating table (20).

Description

Technical Field

[0001] The present invention relates to a stacking device and a stacking system for stacking stacking objects. Background Art

[0002] A stacking device is known that picks up stacking objects that are sequentially conveyed and stacks the stacking objects sequentially on a stacking table. In addition, a technique is known that corrects the relative misalignment between the stacking object and the stacking table before stacking the stacking object on the stacking table.

[0003] Patent document 1 discloses a stacking device, in which a stacking object conveyed by a conveying device such as a conveyor belt is held by an arm member, and the stacking object is stacked on a stacking workbench. In the stacking device, a camera is used to photograph the stacking object conveyed by the conveying device, and after the misalignment of the stacking object is corrected based on the photographed image, the stacking object whose misalignment has been corrected is held by an arm member, and the stacking object is stacked on the stacking workbench.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2016-33868

[0005] However, in the stacking device described in Patent Document 1, if the stacking object is misaligned when the arm member sucks and holds the stacking object, the stacking object may be stacked on the stacking table in a misaligned state. Summary of the invention

[0006] The present invention solves the above-mentioned problems and aims to provide a stacking device capable of suppressing displacement of stacking objects stacked on a stacking table even when displacement occurs when the stacking objects are held by a holding portion, and a stacking system including such a stacking device.

[0007] The stacking device of the present invention is characterized in that it comprises: a holding portion, which is a holding portion for holding a stacking object and has a transparent portion that can transmit photographing light in a direction perpendicular to a holding surface in contact with the above-mentioned stacking object, and an alignment mark is provided on the above-mentioned transparent portion; a stacking workbench, which is used to stack the above-mentioned stacking object held by the above-mentioned holding portion; a photographing portion, which is arranged at a position on the opposite side of the above-mentioned holding surface relative to the above-mentioned holding portion and can photograph at least a part of the above-mentioned stacking object held by the above-mentioned holding portion and the above-mentioned alignment mark through the above-mentioned transparent portion of the above-mentioned holding portion; and a device control portion, which detects the misalignment of the above-mentioned stacking object held by the above-mentioned holding portion based on the image photographed by the above-mentioned photographing portion, and can correct the relative misalignment between the above-mentioned stacking object held by the above-mentioned holding portion and the above-mentioned stacking workbench based on the detected misalignment.

[0008] The stacking system of the present invention is characterized in that it comprises: the above-mentioned stacking device; a plurality of supply mechanisms, which can supply the above-mentioned stacking objects to a plurality of supply positions respectively; and a moving mechanism, which comprises a fixed part of a linear motor having a predetermined travel track and a movable part of a linear motor capable of moving between the plurality of the above-mentioned supply positions along the above-mentioned travel track, and the above-mentioned holding part of the above-mentioned stacking device and the above-mentioned stacking workbench are included in the above-mentioned movable part.

[0009] According to the stacking device of the present invention, a photographing unit photographs at least a portion of the stacking object held by the holding unit and an alignment mark via a transparent portion of the holding unit, and a device control unit detects a misalignment of the stacking object held by the holding unit based on the image photographed by the photographing unit, and corrects the relative misalignment between the stacking object held by the holding unit and the stacking workbench based on the detected misalignment. Therefore, even if a misalignment occurs when the stacking object is held by the holding unit, the misalignment of the stacking object stacked on the stacking workbench can be suppressed.

[0010] According to the stacking system of the present invention, the stacking device, a plurality of supply mechanisms capable of supplying stacking objects, and a moving mechanism are provided, and the holding portion of the stacking device and the stacking workbench are included in the movable member of the moving mechanism. Therefore, even if the stacking object is misaligned when the holding portion included in the movable member holds the stacking object, the misalignment of the stacking object stacked on the stacking workbench can be suppressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a perspective view schematically showing the structure of a laminating device according to one embodiment.

[0012] Figure 2 It is a plan view schematically showing the structure of the holding portion when viewed from the holding surface side.

[0013] Figure 3 This is an enlarged view of the region near the transparent portion when the holding portion is viewed from the side opposite to the holding surface.

[0014] Figure 4 This is an enlarged view of the area near the transparent portion when the holding portion holding the stacked object provided with the position confirmation mark is viewed from the side opposite to the holding surface.

[0015] Figure 5 This is a top view for explaining the moving direction of the laminating table.

[0016] Figure 6 It is a plan view schematically showing the structure of a stacking system including a stacking device according to one embodiment.

[0017] Figure 7It is a diagram schematically showing the structure of the movable member of the moving mechanism when viewed in the direction along the travel track of the fixed member. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are shown below, and the features of the present invention are described in detail.

[0019] Figure 1 1 is a perspective view schematically showing the structure of a laminating device 100 according to an embodiment. The laminating device 100 according to an embodiment includes a holding unit 10, a laminating stage 20, an imaging unit 30, and a device control unit 40. Figure 1 In simplified form, Figure 2 Detailed description of the external appearance of the holding portion 10 is shown in FIG.

[0020] The holding portion 10 is configured to hold the stacking object 1 and to be able to stack the held stacking object 1 on the stacking table 20. The stacking object 1 stacked on the stacking table 20 has, for example, a sheet-like shape. However, the stacking object 1 is not limited to a sheet-like structure. The stacking object 1 is stacked on the stacking table 20 in sequence.

[0021] As an example, Figure 2 As shown, a plurality of suction holes 11 are provided on the holding surface 10a of the holding portion 10 that contacts the stacking object 1, and the stacking object 1 is adsorbed and held on the holding surface 10a by suction through the plurality of suction holes 11. By providing a plurality of suction holes 11 on the holding surface 10a of the holding portion 10, the stacking object 1 can be stably adsorbed and held. Figure 2 In the example shown, the shape of the suction hole 11 when viewed in a direction perpendicular to the holding surface 10a is circular, but the shape of the suction hole 11 is not limited to a circular shape. Figure 2 In FIG. 1 , the stacking objects 1 held by suction on the holding surface 10 a are indicated by dotted lines.

[0022] exist Figure 2 In the example shown, the shape of the holding portion 10 when viewed in a direction perpendicular to the holding surface 10a is not a rectangle. Specifically, the shape of the holding portion 10 when viewed in a direction perpendicular to the holding surface 10a is a shape having four inwardly recessed portions 10b relative to the rectangular shape. Figure 2 As shown in FIG. 1 , when the stacking object 1 is held by the holding surface 10a by suction, a part of the stacking object 1 is located outside the holding surface 10a. However, the shape of the holding portion 10 is not limited to Figure 2 The shape shown. In addition, the method by which the holding portion 10 holds the stacking object 1 is not limited to holding by suction.

[0023] The holding portion 10 has a transparent portion 12 that allows imaging light to pass in a direction perpendicular to the holding surface 10a. The transparent portion 12 is made of a material having a transmittance that allows imaging light to pass, such as a transparent glass material such as quartz glass and float glass, or a transparent resin material such as acrylic.

[0024] The transparent portion 12 is provided at a position overlapping at least a part of the stacking object 1 in a direction orthogonal to the holding surface 10a when the holding portion 10 holds the stacking object 1. Figure 1 and Figure 2 As shown, the transparent portion 12 is provided at the corners of the holding portion 10. For reasons described later, the transparent portion 12 is preferably provided at the two corners of the holding portion 10. Figure 1 and Figure 2 In the example shown, the shape of the transparent portion 12 when viewed in a direction perpendicular to the holding surface 10 a is rectangular, but a shape other than a rectangle may be used.

[0025] The transparent portion 12 of the holding portion 10 is provided with an alignment mark 13. The alignment mark 13 is a mark that serves as a reference when detecting the misalignment of the stacked object 1 held by the holding portion 10. When the transparent portion 12 is provided at two corners of the holding portion 10, the alignment mark 13 is provided at each of the two transparent portions 12. In the present embodiment, the alignment mark 13 is provided on the holding surface 10a of the transparent portion 12 having a thickness in a direction perpendicular to the holding surface 10a.

[0026] In addition, in order to detect the misalignment of the stacked object 1, the following structure can also be considered: the position in the retaining portion 10 for providing the transparent portion 12 is made into a recessed portion in which nothing is provided and a shape is adopted that protrudes from the edge of the recessed portion to the position of the alignment mark 13, and the alignment mark 13 is replaced by the protruding end. However, by providing the transparent portion 12, the area of ​​the stacked object 1 that can be maintained is increased, and therefore the stacked object 1 can be stably maintained.

[0027] Figure 3 This is an enlarged view of the area near the transparent portion 12 when the holding portion 10 is viewed from the side opposite to the holding surface 10 a . Figure 3 In FIG. 1 , the stacking objects 1 held by the holding portion 10 are also shown together as a region covered with dots.

[0028] The alignment mark 13 may have any shape as long as it is possible to detect the displacement of the stacking object 1 held by the holding portion 10. Figure 3 In the example shown, the alignment mark 13 has a rectangular shape.

[0029] The holding part 10 holds the stacking object 1 at the supply position of the stacking object 1, and after the holding part 10 moves toward the stacking workbench 20, the holding of the stacking object 1 is released, thereby stacking the stacking object 1 on the stacking workbench 20. In this embodiment, the direction orthogonal to the holding surface 10a of the holding part 10 is the vertical direction, and the holding part 10 is configured to be able to move up and down. That is, the holding part 10 descends toward the stacking workbench 20 after holding the stacking object 1, and the holding of the stacking object 1 is released, thereby stacking the stacking object 1 on the stacking workbench 20.

[0030] The stacking stage 20 is a member for stacking the stacking objects 1 held by the holding unit 10 .

[0031] The imaging unit 30 is arranged at a position on the opposite side of the holding surface 10a with respect to the holding unit 10, and can image at least a part of the stacking object 1 held by the holding unit 10 and the alignment mark 13 through the transparent portion 12 of the holding unit 10. As in the present embodiment, when the holding surface 10a of the holding unit 10 is in a direction parallel to the horizontal direction, the imaging unit 30 is located vertically above the holding unit 10 holding the stacking object 1. In addition, the laminating stage 20 is located vertically below the holding unit 10 holding the stacking object 1.

[0032] In this embodiment, the shape of the stacking object 1 is rectangular, and the imaging unit 30 simultaneously images the corners 1a (see FIG. 1 ) of the stacking object 1 held by the holding unit 10. Figure 3 ) and the alignment mark 13 of the holding portion 10. Figure 2 and Figure 3 As shown, by providing the transparent portion 12 at the corner of the holding portion 10 , the imaging portion 30 can simultaneously image the corner 1 a of the stacking object 1 held by the holding portion 10 and the alignment mark 13 .

[0033] When the alignment mark 13 is provided on the holding surface 10a of the holding portion 10 at the transparent portion 12, the distance from the imaging portion 30 to the alignment mark 13 is substantially the same as the distance from the imaging portion 30 to the stacking object 1 held by the holding portion 10. In this case, at least a part of the stacking object 1 and the alignment mark 13 can be simultaneously imaged in a more focused state. Therefore, it is preferred that the alignment mark 13 is provided on the holding surface 10a of the holding portion 10 at the transparent portion 12.

[0034] Figure 1, a configuration example is shown in which the transparent portion 12 is provided at two corners of the holding portion 10, and two imaging units 30 are provided corresponding to the two transparent portions 12. In this case, the two imaging units 30 respectively photograph one corner of the stacking object 1 and one alignment mark 13 of the holding portion 10. In this way, by providing two imaging units 30 corresponding to the two transparent portions 12, the relative position of the stacking object 1 with respect to the holding portion 10 can be more accurately photographed. However, it is also possible to provide only one imaging unit 30, and simultaneously photograph the two corners of the stacking object 1 and the two alignment marks 13 by the one imaging unit 30.

[0035] The device control unit 40 detects the misalignment of the stacking object 1 held by the holding unit 10 based on the image captured by the imaging unit 30, and can correct the relative misalignment between the stacking object 1 held by the holding unit 10 and the stacking table 20 based on the detected misalignment. In addition, the device control unit 40 can raise or lower at least one of the holding unit 10 and the stacking table 20. The imaging unit 30 and the device control unit 40 can be connected by wiring such as a signal line, or can be connected wirelessly.

[0036] To correct the relative misalignment between the stacking object 1 held by the holding unit 10 and the stacking stage 20 , the device control unit 40 may move the holding unit 10 , the stacking stage 20 , or both the holding unit 10 and the stacking stage 20 .

[0037] Alternatively, the imaging unit 30 may include an image processing unit, and the image processing unit may detect the misalignment of the stacking object 1 held by the holding unit 10 based on the captured image. In this case, the misalignment of the stacking object 1 detected by the image processing unit is transmitted to the device control unit 40. In this configuration, the image processing unit of the imaging unit 30 is included in the device control unit 40.

[0038] An example of a method for detecting a positional deviation of the stacked object 1 held by the holding unit 10 based on an image captured by the imaging unit 30 will be described. Figure 3 In the example shown, an alignment mark 13 is configured so that, when viewed from above in a direction perpendicular to the retaining surface 10a, the first side 13a of the rectangular alignment mark 13 is parallel to the first side 12a of the transparent portion 12 which is a rectangle when viewed from above, and the second side 13b of the alignment mark 13 is parallel to the second side 12b of the transparent portion 12.

[0039] The device control unit 40 detects the center 13c of the alignment mark 13 and the corner 1a of the stacking object 1 held by the holding unit 10, respectively, based on the image captured by the imaging unit 30, and detects the relative position of the corner 1a of the stacking object 1 with respect to the center 13c of the alignment mark 13. As an example, the device control unit 40 measures the distance X1 in the X-axis direction and the distance Y1 in the Y-axis direction of the corner 1a of the stacking object 1 with respect to the center 13c of the alignment mark 13. Figure 3 In the diagram, the X-axis direction is a direction parallel to the first side 13 a of the alignment mark 13 , and the Y-axis direction is a direction parallel to the second side 13 b of the alignment mark 13 .

[0040] Next, the device control unit 40 detects the misalignment of the stacking object 1 held by the holding unit 10 based on the difference (Xa-X1) between the reference distance Xa in the X-axis direction and the measured distance X1 in the X-axis direction when there is no misalignment of the stacking object 1, and the difference (Ya-Y1) between the reference distance Ya in the Y-axis direction and the measured distance Y1 in the Y-axis direction when there is no misalignment of the stacking object 1. When the stacking object 1 is held by the holding unit 10, if the stacking object 1 is deviated in at least one of the X-axis direction and the Y-axis direction, the above-mentioned difference in distance (Xa-X1) in the X-axis direction and the difference in distance (Ya-Y1) in the Y-axis direction are obtained, thereby making it possible to detect the misalignment of the stacking object 1 held by the holding unit 10.

[0041] The transparent portion 12 is provided at the positions of the two corners of the holding portion 10. When the two transparent portions 12 are provided with alignment marks 13, respectively, the device control unit 40 measures the above-mentioned distance X1 in the X-axis direction and the distance Y1 in the Y-axis direction for each of the two alignment marks 13. In this case, the device control unit 40 respectively obtains the difference (Xa-X1) between the two above-mentioned distances in the X-axis direction and the difference (Ya-Y1) between the two above-mentioned distances, thereby detecting the misalignment of the stacked object 1. By using the two alignment marks 13 to respectively obtain the difference (Xa-X1) and (Ya-Y1) between the two above-mentioned distances, the misalignment of the stacked object 1 can be obtained with higher accuracy. In addition, by respectively obtaining the difference (Xa-X1) and (Ya-Y1) between the two above-mentioned distances, the tilt of the stacked object 1 can also be detected. That is, it is possible to detect not only the displacement of the stacking object 1 along the X-axis direction and the Y-axis direction but also the displacement in the rotation direction around the center of the stacking object 1. Therefore, it is preferable that the transparent portion 12 is provided at the two corners of the holding portion 10.

[0042] In order to confirm the position of the stacked object 1, a position confirmation mark 14 may be provided on the surface of the stacked object 1 on the side in contact with the holding surface 10a of the holding portion 10 at a position overlapping the transparent portion 12 in a direction perpendicular to the holding surface 10a (see Figure 4 ). In this case, the imaging unit 30 simultaneously images the position confirmation mark 14 of the stacking object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10. The device control unit 40 detects the misalignment of the stacking object 1 by detecting the relative position of the position confirmation mark 14 of the stacking object 1 with respect to the center 13c of the alignment mark 13. In addition, the shape of the position confirmation mark 14 can be any shape.

[0043] As described above, the device control unit 40 corrects the relative misalignment between the stacking object 1 held by the holding unit 10 and the stacking stage 20 based on the detected misalignment. That is, at least one of the holding unit 10 holding the stacking object 1 and the stacking stage 20 is moved so that the above-mentioned distance difference in the X-axis direction (Xa-X1) and the distance difference in the Y-axis direction (Ya-Y1) are both 0. However, when the above-mentioned distance difference in the X-axis direction (Xa-X1) and the distance difference in the Y-axis direction (Ya-Y1) are both 0, it is not necessary to move the holding unit 10 holding the stacking object 1 and the stacking stage 20 separately.

[0044] For example, Figure 5 As shown, the stacking table 20 is configured to be movable in the X-axis direction, the Y-axis direction, and the rotation direction around the center of the stacking table 20, that is, the θ direction. The stacking table 20 is, for example, a UVW table that can move in the X-axis direction, the Y-axis direction, and the θ direction. The device control unit 40 moves the stacking table 20 in at least one of the X-axis direction, the Y-axis direction, and the θ direction based on the detected misalignment, thereby being able to correct the relative misalignment between the stacking object 1 held by the holding unit 10 and the stacking table 20.

[0045] Alternatively, the device control unit 40 may move the holding unit 10 instead of moving the stacking table 20. In this case, the device control unit 40 moves the holding unit 10 holding the stacking object 1 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, which is a rotation direction around the center of the holding unit 10, based on the detected misalignment, thereby correcting the relative misalignment between the stacking object 1 held by the holding unit 10 and the stacking table 20.

[0046] In addition, the device control unit 40 may move each of the holding unit 10 holding the stacking object 1 and the stacking stage 20 based on the detected positional displacement.

[0047] After the above-mentioned positional deviation is corrected, the device control unit 40 lowers the holding unit 10 to release the suction of the stacking object 1 by the holding unit 10 . As a result, the stacking object 1 is stacked on the stacking stage 20 .

[0048] (Cascading System)

[0049] Next, the configuration of a lamination system 200 including the lamination device 100 according to the above-described embodiment will be described.

[0050] Figure 6 1 is a top view schematically showing the structure of a stacking system 200 including a stacking device 100 according to an embodiment. The stacking system 200 includes the stacking device 100, a plurality of supply mechanisms 210, and a moving mechanism 220. The holding portion 10 and the stacking table 20 of the stacking device 100 are included in the moving mechanism 220 as described later. Here, an example in which the stacking object 1 is a sheet-shaped battery material is described. However, the stacking object 1 is not limited to a sheet-shaped battery material.

[0051] The plurality of supply mechanisms 210 supply stacking objects 1 to the plurality of supply positions A1 to A4, respectively. One type of stacking object 1 is supplied to each of the plurality of supply positions A1 to A4. In the present embodiment, the plurality of supply mechanisms 210 include four supply mechanisms, namely, 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 the plurality of supply mechanisms 210 is not limited to four.

[0052] The first supply mechanism 210a supplies the stacking object 1 to the first supply position A1. The stacking object 1 supplied by the first supply mechanism 210a is, for example, a resin film. The resin film is a sheet-shaped battery material that functions as a separator, and is composed of, for example, polyethylene. In this embodiment, the first supply mechanism 210a is a conveyor belt, and the stacking object 1 placed on the belt is transported to the first supply position A1 for supply.

[0053] The second supply mechanism 210b supplies the stacking object 1 to the second supply position A2. The stacking object 1 supplied by the second supply mechanism 210b is, for example, a first metal foil. The first metal foil is a sheet-shaped battery material that functions as one of the positive electrode and the negative electrode, and is, for example, made of aluminum. In this embodiment, the second supply mechanism 210b is a conveyor belt, and the stacking object 1 placed on the belt is transported to the second supply position A2 and supplied.

[0054] The third supply mechanism 210c supplies the stacking object 1 to the third supply position A3. The stacking object 1 supplied by the third supply mechanism 210c is, for example, a resin film. The resin film is a sheet-shaped battery material that functions as a separator, and is composed of, for example, polyethylene. The resin film supplied by the third supply mechanism 210c can use the same film as the resin film supplied by the first supply mechanism 210a. However, a film different from the resin film supplied by the first supply mechanism 210a can also be used. In the present embodiment, the third supply mechanism 210c is a conveyor belt, which transports the stacking object 1 placed on the belt to the third supply position A3 and supplies it.

[0055] The fourth supply mechanism 210d supplies the stacking object 1 to the fourth supply position A4. The stacking object 1 supplied by the fourth supply mechanism 210d is, for example, a second metal foil. The second metal foil is a sheet-shaped battery material that functions as the other electrode of the positive electrode and the negative electrode, and is, for example, made of aluminum. In this embodiment, the fourth supply mechanism 210d is a conveyor belt, and the stacking object 1 placed on the belt is transported to the fourth supply position A4 and supplied.

[0056] 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 conveyors, and may be any structure capable of conveying and supplying the stacked objects 1.

[0057] In addition, the supply mechanism 210 may be configured to transport a long stacked object 1 instead of a single-piece stacked object 1. In this case, the long stacked object 1 may be cut and single-pieced at the supply positions A1 to A4. In addition, in the present embodiment, the stacked object 1 is rectangular, but may be other than rectangular.

[0058] The moving mechanism 220 includes a fixed part 221 of a linear motor having a predetermined travel track and a movable part 222 of a linear motor that can move between a plurality of supply positions A1 to A4 along the travel track. Figure 6 As shown in FIG. 1 , the travel track of the fixing member 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 the elliptical ring shape.

[0059] 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 be independently operated. The moving mechanism 220 includes a plurality of movable members 222, thereby enabling efficient stacking of the stacking object 1 in a short time.

[0060] Figure 7 2 is a diagram schematically showing the structure of the movable member 222 of the moving mechanism 220 when viewed in the direction along the travel track of the fixed member 221. Figure 7 As shown, the holding portion 10 and the stacking table 20 of the stacking device 100 are included in the movable member 222. In addition, the structure of the device control unit 40 may include, for example, a driving mechanism for driving at least one of the holding portion 10 and the stacking table 20, in the movable member 222, and the portion that issues instructions for calculating the correction amount and driving the driving mechanism is arranged at a fixed location. Figure 7 In FIG. 1 , the X-axis direction is the direction in which the supply mechanism 210 conveys the stacking object 1 , and the Y-axis direction is the direction in which the movable element 222 moves along the travel rail. In addition, the Z-axis direction is the vertical direction.

[0061] The holding unit 10 holds the stacking object 1 conveyed by the supply mechanism 210. The holding unit 10 is movable in the Z-axis direction, and holds the stacking object 1 by descending and approaching the stacking object 1 from above.

[0062] The device control unit 40 lowers the holding unit 10 holding the stacking object 1 toward the stacking table 20. At this time, it is preferable to adjust the lowering amount of the holding unit 10 according to the number of stacking objects 1 stacked on the stacking table 20. However, the device control unit 40 may lower the holding unit 10 by a predetermined amount, and the system control unit described later may move the stacking table 20 in the Z-axis direction according to the number of stacking objects 1 stacked on the stacking table 20. In this case, the lowering amount of the holding unit 10 by the device control unit 40 can be kept constant.

[0063] In the present embodiment, as described later, while the movable member 222 moves along the travel track of the fixed member 221, the holding portion 10 descends, the adsorption of the stacking object 1 is released, and the stacking object 1 is stacked on the stacking table 20. However, when the stacking object 1 is stacked on the stacking table 20, "stacking the stacking object 1 on the stacking table 20" means stacking the stacking object 1 on the stacking object 1 already stacked on the stacking table 20.

[0064] In this embodiment, if Figure 7 As shown, the movable member 222 is mounted on two guide rails 223 of the fixed member 221 forming the travel track, and moves along the guide rails 223. Figure 7 As shown, the guide rail 223 of the fixed member 221 is not arranged vertically below the movable member 222, but is arranged on the side. In the structure where the guide rail 223 is arranged vertically below the movable member 222, control has to be performed taking into account the inner wheel difference of the two guide rails 223, but in the structure where it is arranged on the side, it is not necessary to consider the inner wheel difference, and the control becomes simple.

[0065] As described above, in this embodiment, in order to supply four types of stacking objects 1, there are four supply positions A1 to A4 for the stacking objects 1. The imaging unit 30 of the stacking device 100 is provided at four locations corresponding to the four supply positions A1 to A4. Specifically, the first imaging unit 30a is provided corresponding to the first supply position A1, the second imaging unit 30b is provided corresponding to the second supply position A2, the third imaging unit 30c is provided corresponding to the third supply position A3, and the fourth imaging unit 30d is provided corresponding to the fourth supply position A4. Figure 6 Although an example in which one imaging unit 30 is provided corresponding to one supply position is shown in FIG. 1 , it is preferable that two imaging units 30 are provided corresponding to one supply position as described above.

[0066] The imaging unit 30 may be provided in a state of being fixed at a position corresponding to the supply positions A1 to A4 , or may be configured to be included in the movable element 222 and to move together with the movement of the movable element 222 .

[0067] Hereinafter, a method for sequentially stacking four types of stacking objects 1 by means of a stacking system 200 having a stacking device 100 according to one embodiment will be described. Here, the action of the first movable member 222a among the eight movable members 222 to stack the stacking object 1 will be described, but the action of stacking the stacking object 1 for the other movable members 222b to 222h is also the same. That is, if the time for the first movable member 222a to travel one circle around the travel track of the fixed member 221 is set to T, the eighth movable member 222h performs the same action as the first movable member 222a at a time point delayed by T / 8, the seventh movable member 222g performs the same action as the first movable member 222a at a time point delayed by (2T) / 8, the sixth movable member 222f performs the same action as the first movable member 222a at a time point delayed by (3T) / 8, and the fifth movable member 222h performs the same action as the first movable member 222a at a time point delayed by (4T) / 8. Element 222e performs the same action as the first movable element 222a at a time point delayed by (4T) / 8, the fourth movable element 222d performs the same action as the first movable element 222a at a time point delayed by (5T) / 8, the third movable element 222c performs the same action as the first movable element 222a at a time point delayed by (6T) / 8, and the second movable element 222b performs the same action as the first movable element 222a at a time point delayed by (7T) / 8.

[0068] Here, a case where the stacking system 200 includes a system control unit that controls the operations of the plurality of supply mechanisms 210 and the plurality of moving mechanisms 220 will be described.

[0069] (S1) The system control unit controls the first supply mechanism 210a to supply the resin film as the stacking object 1 to the first supply position A1, and stops the first movable member 222a at the first supply position A1. The device control unit 40 lowers the holding unit 10 to hold the stacking object 1 at the first supply position A1. The system control unit controls the first imaging unit 30a to image at least a part of the stacking object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

[0070] 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 described later, the third movable member 222c, the fifth movable member 222e, and the seventh movable member 222g each hold the stacking object 1 supplied at each supply position A1 to A4 by the holding portion 10, and stack the stacking object 1 on the stacking table 20 until the stacking object 1 is moved to the next supply position A1 to A4 and stops.

[0071] 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. The second movable member 222b, the fourth movable member 222d, the sixth movable member 222f, and the eighth movable member 222h correct the relative position of the stacking object 1 with respect to the stacking table 20 and stack the stacked objects 1 as described later until they move to the next supply positions A1 to A4 and stop.

[0072] (S2) Next, the system control unit moves the first movable member 222a from the first supply position A1 to the second supply position A2 along the travel track. During the period from the first movable member 222a moving from the first supply position A1 to the second supply position A2 and then stopping, the device control unit 40 corrects the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. Specifically, the device control unit 40 moves at least one of the stacking table 20 and the holding unit 10 in at least one direction of the X-axis direction, the Y-axis direction, and the θ direction based on the image of the stacking object 1 captured by the first imaging unit 30a, thereby correcting the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20.

[0073] In addition, a part of the processing performed by the device control unit 40 may be performed by the image processing unit and the system control unit of the first imaging unit 30a. For example, the image processing unit detects the misalignment of the stacking object 1 held by the holding unit 10 based on the captured image, and the system control unit calculates a correction amount for correcting the misalignment based on the detected misalignment of the stacking object 1. The device control unit 40 moves at least one of the holding unit 10 and the stacking table 20 based on the correction amount calculated by the system control unit. In the case of such a structure, the image processing unit and the system control unit of the first imaging unit 30a are also included in the structure of the device control unit 40. The same is true in the following description.

[0074] Thereafter, the device control unit 40 lowers the holding unit 10 and then releases the suction of the stacking object 1 by the holding unit 10 . As a result, the stacking object 1 is stacked on the stacking stage 20 .

[0075] In addition, the system control unit not only moves the first movable part 222a from the first supply position A1 to the second supply position A2, but also moves the third movable part 222c from the second supply position A2 to the third supply position A3, moves the fifth movable part 222e from the third supply position A3 to the fourth supply position A4, and moves the seventh movable part 222g from the fourth supply position A4 to the first supply position A1.

[0076] (S3) Next, the system control unit controls the second supply mechanism 210b to supply the first metal foil as the stacking object 1 to the second supply position A2, and stops the first movable member 222a at the second supply position A2. The device control unit 40 lowers the holding unit 10 to hold the stacking object 1 at the second supply position A2. The system control unit controls the second imaging unit 30b to image at least a portion of the stacking object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

[0077] When the first movable member 222a stops at the second supply position A2, the third movable member 222c stops at the third supply position A3, the fifth movable member 222e stops at the fourth supply position A4, and the seventh movable member 222g stops at the first supply position A1. In addition, the second movable member 222b is located between the second supply position A2 and the third supply position A3, the fourth movable member 222d is located between the third supply position A3 and the fourth supply position A4, the sixth movable member 222f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable member 222h is located between the first supply position A1 and the second supply position A2.

[0078] (S4) Next, the system control unit moves the first movable member 222a from the second supply position A2 to the third supply position A3 along the travel track. During the period from the first movable member 222a moving from the second supply position A2 to the third supply position A3 and then stopping, the device control unit 40 corrects the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. Specifically, the device control unit 40 moves at least one of the stacking table 20 and the holding unit 10 in at least one direction of the X-axis direction, the Y-axis direction, and the θ direction based on the image of the stacking object 1 captured by the second imaging unit 30b, thereby correcting the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. The action of stacking the stacking object 1 on the stacking table 20 after the position correction is the same as the action of stacking the stacking object 1 supplied to the first supply position A1.

[0079] In addition, the system control unit not only moves the first movable part 222a from the second supply position A2 to the third supply position A3, but also moves the third movable part 222c from the third supply position A3 to the fourth supply position A4, moves the fifth movable part 222e from the fourth supply position A4 to the first supply position A1, and moves the seventh movable part 222g from the first supply position A1 to the second supply position A2.

[0080] (S5) Next, the system control unit controls the third supply mechanism 210c to supply the resin film as the stacking object 1 to the third supply position A3, and stops the first movable member 222a at the third supply position A3. The device control unit 40 controls the system control unit to lower the holding unit 10 to hold the stacking object 1 held at the third supply position A3. The system control unit controls the third imaging unit 30c to image at least a part of the stacking object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

[0081] 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. In addition, 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.

[0082] (S6) Next, the system control unit moves the first movable member 222a from the third supply position A3 to the fourth supply position A4 along the travel track. While the first movable member 222a moves from the third supply position A3 to the fourth supply position A4 and then stops, the device control unit 40 corrects the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. Specifically, the device control unit 40 moves at least one of the stacking table 20 and the holding unit 10 in at least one direction of the X-axis direction, the Y-axis direction, and the θ direction based on the image of the stacking object 1 captured by the third imaging unit 30c, thereby correcting the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. The action of stacking the stacking object 1 on the stacking table 20 after the position correction is the same as the action of stacking the stacking object 1 supplied to the first supply position A1.

[0083] In addition, the system control unit not only moves the first movable part 222a from the third supply position A3 to the fourth supply position A4, but also moves the third movable part 222c from the fourth supply position A4 to the first supply position A1, moves the fifth movable part 222e from the first supply position A1 to the second supply position A2, and moves the seventh movable part 222g from the second supply position A2 to the third supply position A3.

[0084] (S7) Next, the system control unit controls the fourth supply mechanism 210d to supply the second metal foil as the stacking object 1 to the fourth supply position A4, and stops the first movable member 222a at the fourth supply position A4. The device control unit 40 lowers the holding unit 10 to hold the stacking object 1 at the fourth supply position A4. The system control unit controls the fourth imaging unit 30d to image at least a part of the stacking object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

[0085] 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. In addition, 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.

[0086] (S8) Next, the system control unit moves the first movable member 222a from the fourth supply position A4 to the first supply position A1 along the travel track. During the period from when the first movable member 222a moves from the fourth supply position A4 to the first supply position A1 and then stops, the device control unit 40 corrects the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. Specifically, the device control unit 40 moves at least one of the stacking table 20 and the holding unit 10 in at least one direction of the X-axis direction, the Y-axis direction, and the θ direction based on the image of the stacking object 1 captured by the fourth imaging unit 30d, thereby correcting the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking table 20. The action of stacking the stacking object 1 on the stacking table 20 after the position correction is the same as the action of stacking the stacking object 1 supplied to the first supply position A1.

[0087] In addition, the system control unit not only moves the first movable part 222a from the fourth supply position A4 to the first supply position A1, but also moves the third movable part 222c from the first supply position A1 to the second supply position A2, moves the fifth movable part 222e from the second supply position A2 to the third supply position A3, and moves the seventh movable part 222g from the third supply position A3 to the fourth supply position A4.

[0088] Through the above-mentioned steps (S1) to (S8), a set of semi-finished products in which the resin film, the first metal foil, the resin film, and the second metal foil are sequentially stacked as the four stacking objects 1 is obtained. Thereafter, by repeatedly implementing the steps (S1) to (S8), a product in which a predetermined number of stacking groups are stacked is obtained, that is, a stack in which a plurality of positive electrodes and negative electrodes are alternately stacked via a resin film that functions as a separator is obtained. The stack is used, for example, as a structural material for a battery pack.

[0089] The present invention is not limited to the above-described embodiment, and various applications and modifications can be made within the scope of the present invention.

[0090] For example, the stacking object 1 is not limited to the above-mentioned sheet-shaped battery material. For example, a plurality of stacking objects 1 are sheet-shaped conductive layers and insulating layers, and a multilayer substrate can be produced by stacking a plurality of stacking objects 1. In this case, the conductive layer is composed of, for example, copper, silver, an alloy containing copper, an alloy containing silver, or a Sn-Ag solder. The insulating layer is composed of, for example, a thermoplastic resin such as a liquid crystal polymer, polyetheretherketone, polyetherimide, or polyimide, or a thermosetting resin such as an epoxy resin or an unsaturated polyester.

[0091] In the above-described embodiment, the holding unit 10 is configured to move closer to the supply mechanism 210 by descending to hold the stacked objects 1 , but the supply mechanism 210 may be configured to move closer to the holding unit 10 by ascending.

[0092] The stacking device and stacking system of the present application are as follows.

[0093] <1> A stacking device, characterized in that it comprises: a holding portion, which is a holding portion for holding a stacking object and has a transparent portion that can transmit photographing light in a direction perpendicular to a holding surface in contact with the stacking object, and an alignment mark is provided on the transparent portion; a stacking workbench, which is used to stack the stacking object held by the holding portion; a photographing portion, which is arranged at a position on the opposite side of the holding surface relative to the holding portion and can photograph at least a part of the stacking object held by the holding portion and the alignment mark through the transparent portion of the holding portion; and a device control portion, which detects the misalignment of the stacking object held by the holding portion based on the image photographed by the photographing portion, and can correct the relative misalignment between the stacking object held by the holding portion and the stacking workbench based on the detected misalignment.

[0094] <2> In the lamination device described in <1>, the alignment mark is provided on the holding surface of the transparent portion.

[0095] <3> In the laminating device described in <1> or <2>, the transparent portion is provided at a corner of the holding portion.

[0096] <4> In the laminating device described in <1> or <2>, the transparent portion is provided at two corners of the holding portion.

[0097] <5>. The lamination device described in <4> is characterized in that two of the imaging units are provided corresponding to the two transparent units.

[0098] <6>. The laminating device according to any one of <1> to <5>, wherein a plurality of suction holes are provided on the holding surface of the holding portion.

[0099] <7>. A stacking system, characterized in that it comprises: the stacking device described in any one of <1> to <6>; a plurality of supply mechanisms capable of supplying the stacking objects to a plurality of supply positions respectively; and a moving mechanism comprising a fixed part of a linear motor having a predetermined travel track and a movable part of a linear motor capable of moving along the travel track between the plurality of supply positions, the retaining portion of the stacking device and the stacking workbench being included in the movable part.

[0100] <8>. In the stacking system described in <7>, the moving mechanism includes a plurality of movable members.

[0101] Description of Reference Numerals

[0102] 1... stacking object; 1a... corner of stacking object; 10... holding portion; 10a... holding surface; 11... suction hole; 12... transparent portion; 13... alignment mark; 14... mark for position confirmation; 20... stacking workbench; 30... photographing portion; 40... device control portion; 100... stacking device; 200... stacking system; 210... supply mechanism; 220... moving mechanism; 221... fixing member; 222... movable member; 223... guide rail.

Claims

1. A stacking device, characterized in that: have: a holding portion that holds a stacked object and has a transparent portion that allows imaging light to pass in a direction orthogonal to a holding surface that contacts the stacked object, and an alignment mark is provided on the transparent portion; a stacking table for stacking the stacking objects held by the holding portion; an imaging unit disposed at a position opposite to the holding surface relative to the holding unit and capable of imaging at least a portion of the stacking object held by the holding unit and the alignment mark through the transparent portion of the holding unit; as well as The device control unit detects the misalignment of the stacking object held by the holding unit based on the image captured by the imaging unit, and can correct the relative misalignment between the stacking object held by the holding unit and the stacking table based on the detected misalignment.

2. The stacking device according to claim 1, characterized in that The alignment mark is provided on the holding surface at the transparent portion.

3. The stacking device according to claim 1 or 2, characterized in that: The transparent portion is provided at a corner of the holding portion.

4. The stacking device according to claim 1 or 2, characterized in that: The transparent parts are arranged at two corners of the holding part.

5. The stacking device according to claim 4, characterized in that: Two imaging units are provided corresponding to the two transparent units.

6. The lamination device according to any one of claims 1 to 5, characterized in that: A plurality of suction holes are provided on the holding surface of the holding portion.

7. A stacking system, characterized in that: have: The stacking device according to any one of claims 1 to 6; a plurality of supply mechanisms capable of supplying the stacking objects to a plurality of supply positions, respectively; and a moving mechanism including a fixed part of a linear motor having a predetermined travel track and a movable part of a linear motor capable of moving between a plurality of supply positions along the travel track, The holding portion and the lamination stage of the lamination device are included in the movable element.

8. The stacking system according to claim 7, characterized in that The moving mechanism includes a plurality of movable elements.

Images