Lamination device

Abstract

To provide a lamination device capable of arranging a sheet member on a surface of a curved substrate with high precision.SOLUTION: A lamination device that laminates a sheet member on a loading surface of a curved substrate has: a plurality of suction pads including a first suction pad; and moving means for moving at least the first suction pad among the plurality of suction pads. A suction part of each suction pad is capable of taking a planar suction posture distributed on substantially the same planer, and a moving suction posture in which a position of the first suction pad is moved from the planar suction posture, and is configured to suck the sheet member in the planar suction posture, place a part of the sheet member on the loading surface of the curved substrate in a state of the planar suction posture, change from a state in which a part of the sheet member is placed on the loading surface of the curved substrate to the moving suction posture, and place the sheet member along the loading surface of the curved substrate.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a lamination device for forming a laminate in which sheet members are placed on a substrate. [Background technology]

[0002] A solar cell module is known that is formed by laminating, in this order, a sealing sheet member, a solar cell string, another sealing sheet member, and a back sheet on a light-transmitting base material. A solar cell module manufacturing apparatus (hereinafter also simply referred to as a manufacturing apparatus) for manufacturing such a solar cell module is disclosed in Patent Document 1, for example.

[0003] The manufacturing apparatus of Patent Document 1 includes a thinning section that thins the resin sheet, a lamination section that sequentially laminates a resin sheet, a solar cell cell, a resin sheet, and a back surface protective material onto a glass substrate to form a laminate, and a heating and pressing section that heats and presses the laminate. Additionally, the solar cell module manufacturing apparatus includes a suction section that transports each resin sheet to the thinning section and transports the resin sheets thinned in the thinning section to the lamination section. The suction section is a device that transports the resin sheet by suctioning the resin sheet with a suction head and moving the resin sheet together with the suction head. In other words, the solar cell module manufacturing apparatus of Patent Document 1 includes a device that transports the resin sheet and places it on the glass substrate.

[0004] In recent years, in addition to solar cell modules that use flat, light-transmitting substrates (glass substrates), there are also solar cell modules that are formed by arranging strings of solar cell cells on a base material that has a three-dimensional curvature (hereinafter also referred to as a curved substrate) (for example, Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-009723 [Patent Document 2] Japanese Patent Application Publication No. 2019-033302 Summary of the Invention [Problem to be solved by the invention]

[0006] In conventional manufacturing equipment, when a sheet member such as a resin sheet is placed on a curved substrate, a gap is formed between the substrate-side surface of the sheet member and the recessed portion of the curved substrate, unlike when the sheet member is placed on a flat base material. When placing a sheet member on a flat substrate, the flat sheet member is placed in the correct position on the substrate and the suction is released when the sheet member is in close contact with the substrate. This makes it easy to place the sheet member in the correct position and in the correct orientation. In contrast, when placing a flat sheet member on a curved substrate, the above-mentioned gap is formed, making it difficult to place the sheet member in the correct position and in the intended orientation (a posture curved along the curved substrate). In other words, even if the suction is released when the above-mentioned gap is formed and an attempt is made to curve the sheet member under its own weight, the intended orientation may not be achieved, or the sheet may not be placed in the correct position.

[0007] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a stacking device that is capable of placing sheet members on the surface of a curved substrate with high precision. [Means for solving the problem]

[0008] One aspect of the present invention for solving the above-mentioned problems is a stacking device that stacks sheet materials on a mounting surface of a curved substrate, the stacking device having a plurality of suction pads including a first suction pad and a moving means for moving at least the first suction pad of the plurality of suction pads, and is capable of assuming a planar suction posture in which the suction portions of each suction pad are distributed substantially on the same plane, and a moved suction posture in which the position of the first suction pad is moved from the planar suction posture, the stacking device adsorbs the sheet material in the planar suction posture, places a portion of the sheet material on the mounting surface of the curved substrate in the planar suction posture, and changes from the state in which a portion of the sheet material is placed on the mounting surface of the curved substrate to the moved suction posture to place the sheet material along the mounting surface of the curved substrate.

[0009] The lamination device of this aspect moves the position of the first suction pad to a moving suction position with a portion of the sheet member placed on the mounting surface of the curved substrate, shapes the sheet member to fit the mounting surface of the curved substrate, and places the sheet member along the mounting surface of the curved substrate. In this way, by changing the shape of the sheet member with a portion of the sheet member placed on the mounting surface of the curved substrate, it becomes easy to change the shape of the sheet member to fit the mounting surface. Furthermore, by changing the shape of the sheet member to fit the mounting surface, it becomes easy to place the sheet member in the correct position on the mounting surface. As a result, it becomes possible to position the sheet member on the surface of a curved substrate with high precision.

[0010] In a preferred aspect, the moving means moves the first suction pad in the suction direction of the suction portion.

[0011] According to this aspect, wrinkles and the like are less likely to form in the sheet member, and the sheet member can be accurately changed to a shape that conforms to the placement surface.

[0012] In a preferred aspect, the moving means moves the first suction pad toward the center of the sheet member.

[0013] According to this aspect, the mechanism for shaping the sheet member to conform to the placement surface can be simplified.

[0014] In a preferred aspect, a curvature measuring means is provided for measuring the curvature of the support surface of the curved substrate, and the amount of movement of the first suction pad is adjusted to match the curvature of the support surface of the curved substrate by changing the position from the planar suction position to the moving suction position.

[0015] According to this aspect, it is possible to arrange the sheet member on the surface of a curved substrate with higher precision.

[0016] In a preferred aspect, the device has a curvature measuring means for measuring the curvature of the support surface of the curved substrate, and by changing the position from the planar suction position to the moving suction position, the deformation amount of the sheet member is adjusted to match the curvature of the support surface of the curved substrate.

[0017] According to this aspect, it is possible to arrange the sheet member on the surface of a curved substrate with higher precision.

[0018] Another aspect of the present invention is a stacking device that stacks sheet materials on a support surface of a curved substrate, the stacking device having a plurality of suction pads including a first suction pad and a moving means for moving at least the first suction pad of the plurality of suction pads, and is capable of assuming a planar suction posture in which the suction portions of each suction pad are distributed substantially on the same plane, and a moved suction posture in which the position of the first suction pad is moved from the planar suction posture, and the stacking device transitions from the planar suction posture to the moved suction posture by moving the first suction pad in the suction direction of the suction portions, and the stacking device suctions the sheet material in the planar suction posture and performs the following operation (1) or (2). (1) The sheet member is placed on the placement surface of the curved substrate in a deformed state by changing its position from the planar suction position to the moving suction position. (2) In the planar suction posture, a portion of the sheet member is placed on the mounting surface of the curved substrate, and the state in which a portion of the sheet member is placed on the mounting surface of the curved substrate is changed to the moving suction posture, and the sheet member is placed along the mounting surface of the curved substrate.

[0019] According to this aspect, it is easy to accurately change the shape of the sheet member to fit the mounting surface and place the sheet member in the correct position on the mounting surface, which makes it possible to position the sheet member on the surface of a curved substrate with high precision. [Effects of the Invention]

[0020] The present invention can provide a stacking device that can place sheet members on the surface of a curved substrate with high precision. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is an explanatory diagram showing a stacking device according to an embodiment of the present invention; [Figure 2] 1 is an explanatory diagram showing how the stacking device of FIG. 1 performs a stack formation operation, where (a) shows how the suction unit approaches the sheet material, (b) shows how the suction unit holds and lifts the sheet material, and (c) shows how the suction unit transports the sheet material. [Figure 3] 3 is an explanatory diagram showing the laminate formation operation being performed following FIG. 2, where (a) shows the sheet member being brought closer to the curved substrate while being held by the suction portion, and (b) shows a state in which a portion of the sheet member is placed on the curved surface of the curved substrate. [Figure 4] 4 is an explanatory diagram showing the state of performing the laminate formation operation following FIG. 3, where (a) shows the state of changing the position from the planar suction position to the moving suction position, and (b) shows the state of the curved sheet member being placed on the curved substrate. [Figure 5]10A and 10B are explanatory diagrams showing how a stacking device according to an embodiment different from the above-described embodiment performs a stack formation operation, in which (a) shows a state in which a portion of a sheet material is placed on the curved surface of a curved substrate, (b) shows a state in which the position is being changed from a flat suction position to a moving suction position, and (c) shows a state in which the position change to the moving suction position has been completed and the curved sheet material has been placed on the curved substrate. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, embodiments of the present invention will be described in detail.

[0023] As shown in FIG. 1, the stacking device 1 of this embodiment includes a conveying section 2, a sheet supplying section 3, a placing section 4, and a control device (not shown) that controls each section.

[0024] The transport unit 2 has a rail member 10, a moving device 11, an arm unit 12 attached to the moving device 11 and extending in the vertical direction, and an adsorption unit 13 attached to the lower end portion of the arm unit 12.

[0025] The rail member 10 is a guide rail that is installed on the ceiling or the like of the installation location where the stacking device 1 is installed, and extends linearly. The moving device 11 is a robot (vehicle) that engages with the rail member 10 and is provided so as to be movable in the extending direction of the rail member 10 (the left-right direction in FIG. 1). In the stacking device 1 of this embodiment, the arm unit 12 and the suction unit 13 move in the horizontal direction as a result of the movement of the movement device 11. In other words, the movement device 11 functions as a movement means for moving the arm unit 12 and the suction unit 13 in the horizontal direction.

[0026] The arm unit 12 has an extension mechanism, and the extension and contraction causes the lower end portion to move up and down. In other words, the arm unit 12 functions as an elevator device that raises and lowers (moves up and down) the entire suction unit 13.

[0027] The adsorption unit 13 has a base portion 29 and a plurality of adsorption members 30 .

[0028] The adsorption member 30 of this embodiment is composed of a plurality of first adsorption members 31 and a second adsorption member 32. The first suction member 31 is an suction member 30 that can be raised and lowered by a lifting mechanism (moving means) not shown and is provided so as to be relatively movable relative to the base part 29. The first suction member 31 has a rod part 31a and a suction pad part 31b attached to the tip (lower end) of the rod part 31a. The lifting mechanism is not particularly limited as long as it can lift and lower the first attraction member 31, and for example, an electric actuator including a drive source such as a motor can be used. The plurality of first attraction members 31 are each capable of moving up and down independently.

[0029] The second suction member 32 is a suction member 30 that is fixed so as not to move up and down relative to the base portion 29. The second suction member 32 is a member that is substantially the same as the first suction member 31 except that it cannot move up and down relative to the base portion 29, and has a rod portion 32a and a suction pad portion 32b attached to the tip (lower end) of the rod portion 32a.

[0030] The suction pad portions 31b and 32b are suction cup members in this embodiment, and are made of an elastic material such as rubber or synthetic resin, and are bowl-shaped members that are convex on the base end side (upper side). Although not particularly limited, the stacking device 1 of this embodiment includes a suction device (not shown) and a suction path (not shown) formed between the space within the suction pad portions 31b and 32b and the suction device. Therefore, when the stacking device 1 holds (holds by suction) the sheet member 100 with the suction pad portions 31b and 32b (see FIG. 2), the stacking device 1 is capable of a suction operation in which the sheet member 100 is suctioned by negative pressure. That is, the suction operation of this embodiment is an operation in which the tip end portions of the suction pad portions 31b and 32b (suction cup members) are attached to the sheet member 100, air is sucked from the space within the suction pad portions 31b and 32b, and the sheet member 100 is suctioned by negative pressure.

[0031] Here, the plurality of attraction members 30 are arranged so as to be distributed in a plane, and in this embodiment, are arranged side by side so as to be distributed in a matrix in a plane. That is, in this embodiment, a plurality of adsorption members 30 are arranged at intervals in the horizontal direction (left-right direction in FIG. 1) to form a row of adsorption members 30, and a plurality of rows of adsorption members 30 (only one row is shown in FIG. 1) are arranged at intervals in the vertical direction (depth direction in FIG. 1). Note that the horizontal direction is a predetermined direction in the horizontal direction, and the vertical direction is a predetermined direction in the horizontal direction that is perpendicular to the horizontal direction in a plan view.

[0032] In the adsorption section 13, of the adsorption members 30 arranged in a predetermined direction (horizontal in this embodiment), the adsorption member 30 on the end side is designated as the first adsorption member 31, and the adsorption member 30 on the central side (center in this embodiment) is designated as the second adsorption member 32. Here, the "adsorption members 30 on the end sides" refers to a predetermined number n (two in this embodiment) of adsorption members 30 arranged in a predetermined direction, from both ends in the predetermined direction. The "adsorption members 30 on the center side" refers to the plurality of adsorption members 30 arranged in a predetermined direction, excluding the "adsorption members 30 on the end sides." Furthermore, the predetermined number n may be set to a value of n=X / 3, where X is the total number of the plurality of attraction members 30 arranged in a predetermined direction (5 in this embodiment). In this case, n is a positive integer, and decimal points are rounded down, rounded up, rounded to the nearest integer, or the like (rounded to the nearest integer in this embodiment). Furthermore, the predetermined number n may be set to 1, and only the adsorption members 30 located on both ends may be referred to as "adsorption members 30 on the end side." Alternatively, the "adsorption members 30 on the end sides" may be adsorption members 30 arranged in the end regions when the region in which the plurality of adsorption members 30 are arranged is divided into thirds in a predetermined direction. In this case, the "adsorption members 30 on the central side" may be adsorption members 30 arranged in the central region.

[0033] As described above, the suction unit 13 (transport unit 2) of this embodiment can take a planar suction posture (see FIG. 2) and a moving suction posture (see FIG. 4) in which the first suction member 31 (suction pad portions 31b, 32b) is moved from the planar suction posture. That is, the suction unit 13 can change its posture between the planar suction posture and the moving suction posture.

[0034] The planar suction posture is a posture in which the lower end portion of the suction member 30 (suction pad portions 31b, 32b), which is the portion that comes into contact with the sheet member 100 when suctioning the sheet member 100, is positioned on approximately the same plane, and in this embodiment, is positioned at approximately the same height. Here, "approximately on the same plane" means not only being positioned on the exact same plane, but also allowing for a degree of error that allows them to be considered substantially identical, for example, allowing for a slight deviation of less than the thickness of the sheet member 100.

[0035] The moving suction posture is a posture in which the first suction member 31 is moved in the suction direction (from bottom to top in FIG. 4) from the planar suction posture, as shown in Fig. 4. More specifically, the moving suction posture is a posture in which the positions in the suction direction (also the positions in the height direction in this embodiment) of the bottom end portion (suction pad portion 31b) of at least one suction member 30 and the bottom end portion (suction pad portions 31b, 32b) of another suction member 30 are different. In this embodiment, the first suction members 31 are moved such that the lower end portions of the suction members 30 located closer to the end in a predetermined direction (horizontal direction in this embodiment) are positioned closer to the tip end in the suction direction (upper side in Figure 4). The suction direction is the direction in which the object (sheet member 100) is attracted during suction, and is the direction from the object to the suction portion 13 (suction pad portions 31b, 32b). In other words, the tip side of the suction direction is the base portion 29 side, and the base side is the object side.

[0036] 1, the sheet supply unit 3 has a sheet conveying means 40, which conveys the sheet member 100 placed on a conveying member 41 to a predetermined position (a conveyance start position and a delivery position). The conveying member 41 is a flat member such as a conveying tray, and the sheet conveying means 40 is a conveyor device such as a roller conveyor. The sheet member 100 is, for example, a filler, a solar cell matrix (a connected body of a plurality of solar cells), a back surface sealing material, or the like. Furthermore, the sheet supply unit 3 may be configured to sequentially convey the same type (one kind) of sheet member 100, such as conveying a first filler material and then a second filler material. Alternatively, the sheet supply unit 3 may be configured to convey multiple types of sheet members 100, such as conveying a filler material and then conveying a solar cell matrix.

[0037] The mounting portion 4 is a portion capable of holding the curved substrate 101, and more specifically, functions as a mounting table on which the curved substrate 101 is placed, the curved substrate 101 being in a concave position with a convex downwards. In other words, the mounting portion 4 is the portion on which the curved substrate 101 is placed.

[0038] Curved substrate 101 is a glass substrate that is three-dimensionally curved so that one main surface (the upper surface in FIG. 1) in the thickness direction (the vertical direction in FIG. 1) is concave and the other main surface (the lower surface in FIG. 1) is convex. Curved substrate 101 of this embodiment is a substrate that is curved in the lateral direction (the left-right direction in FIG. 1), which is a predetermined direction in the horizontal direction, and has a three-dimensional curvature. Note that "curved in the horizontal direction" means that the portion of the main surface of the substrate that extends in the horizontal direction is curved (when viewed from the side in a cross section cut along a plane parallel to the horizontal direction, the cross section appears curved with the line of sight perpendicular to the cross section). In this embodiment, curved substrate 101 is a substrate curved in the horizontal direction (left-right direction in FIG. 1), but curved substrate 101 may also be a substrate curved in the horizontal direction and / or vertical direction (depth direction in FIG. 1). The "vertical direction" is a direction perpendicular to the horizontal direction in a plan view. One of the main surfaces (the upper surface in FIG. 1) of the curved substrate 101 of this embodiment serves as a mounting surface on which the sheet member 100 is placed.

[0039] Next, the laminate forming operation performed by the lamination device 1 of this embodiment will be described in detail with reference to the drawings.

[0040] The laminate formation operation is an operation in which the sheet members 100 from the sheet supply unit 3 are transported onto the curved substrate 101 on the mounting unit 4, and the curved sheet members 100 are placed on the curved substrate 101 to form a laminate. Specifically, as shown in FIG. 2(a), the stacking device 1 moves the suction unit 13 in a planar suction position toward the sheet material 100 on the sheet supply unit 3. Then, as shown in FIG. 2(b), the stacking device 1 brings the lower end portions of the suction members 30 (suction pad portions 31b, 32b) into contact with the sheet material 100, and the suction members 30 suction (hold) the sheet material 100 by suction. Thereafter, the stacking device 1 moves the suction unit 13 upward. Then, as shown in FIG. 2(c), the stacking device 1 moves the suction unit 13 toward the placement unit 4 (see FIG. 1) while holding the sheet material 100 in a planar suction position.

[0041] Next, as shown in Fig. 3(a), the stacking device 1 positions the suction unit 13 and the sheet member 100 above the curved substrate 101, and then moves the suction unit 13 downward while holding the sheet member 100 in a planar suction position. Then, as shown in Fig. 3(b), the stacking device 1 places a portion of the sheet member 100 (an edge portion in this embodiment) on the placement surface (the upper surface, or curved surface in Fig. 3) of the curved substrate 101 while holding the sheet member 100 with the suction unit 13 in a planar suction position. That is, the stacking device 1 places a portion of the sheet member 100, which is in a pre-bending (pre-deformation) state and spreads out in a plane, on the placement surface.

[0042] Furthermore, as shown in FIG. 4(a), the stacking device 1 changes the position of the suction unit 13 from the planar suction position to the moving suction position. Simultaneously, or before or after, the stacking device 1 moves the entire suction unit 13 downward (toward the curved substrate 101). Then, as the position of the suction unit 13 changes, the sheet member 100 becomes curved, and as the suction unit 13 moves downward, the curved sheet member 100 is placed on the curved substrate 101 (see FIG. 4(b)). At this time, the sheet member 100 is curved along the placement surface (curved surface) of the curved substrate 101, and its lower surface (the surface facing the curved substrate 101) is in surface contact with the placement surface of the curved substrate 101. This completes a stack in which the sheet member 100 is placed on the curved substrate 101. Then, the stacking device 1 releases the suction (suction holding) of the sheet member 100 by the suction unit 13, and moves the suction unit 13 upward (not shown).

[0043] When changing its posture to the moving adsorption posture, the stacking device 1 of this embodiment performs an operation of moving upward the plurality of first adsorption members 31. At this time, among the rows of adsorption members 30 aligned in the horizontal direction, the first adsorption member 31 located at the end in the same direction moves the largest amount, which is larger than the amount of movement of the first adsorption member 31 adjacent to it on the inside in the same direction. The stacking device 1 of this embodiment is configured such that, when changing its posture to the moving adsorption posture, the multiple adsorption members 30 with different movement amounts start moving simultaneously (or approximately simultaneously), but the movement may start in descending order of the movement amount, or in descending order of the movement amount. However, from the viewpoint of more appropriately curving the sheet member 100 in a state where wrinkles or the like are less likely to occur, it is preferable to configure the multiple adsorption members 30 to start moving simultaneously (or approximately simultaneously) and complete the movement in descending order of the movement amount. Note that "starting movement at approximately the same time" here means starting movement at exactly the same time, and also allowing for an error that can be considered to be substantially the same (for example, an error of less than one second).

[0044] In the above-described embodiment, an example was shown in which the stacking device 1 performs an operation of moving the entire suction unit 13 downward simultaneously with, or before or after, the operation of changing the position of the stacking device 1 to the moving suction position. At this time, it is preferable that at least a portion of the sheet member 100 remains in contact with the placement surface from a state in which a portion of the sheet member 100 is placed on the placement surface of the curved substrate 101 (see FIG. 3(b)) to a state in which the sheet member 100 is curved along the placement surface of the curved substrate 101 and in surface contact with the placement surface of the curved substrate 101 (see FIG. 4(b)). That is, it is preferable that the operation of moving the entire suction unit 13 downward is performed while performing the position change, so that at least a portion of the sheet member 100 remains in contact with the placement surface from the start to the end of the position change (from the start to the completion of the deformation of the sheet member 100). This configuration makes it easy to curve the sheet member 100 to fit the placement surface.

[0045] In the embodiment described above, after a portion of the sheet member 100 is placed on the placement surface of the curved substrate 101, the position is changed to a moving and adsorbing position, and the sheet member 100 is curved, but the laminate formation operation performed by the lamination device 1 of the present invention is not limited to this. It is also possible to change the position of the sheet member 100 while it is separated from the placement surface of the curved substrate 101, to put the sheet member 100 in a curved state (deformed state), and then move the adsorbing portion 13 downward to place the sheet member 100 in the curved state on the curved substrate 101. However, it is difficult to bend the sheet member 100 at a position away from the curved substrate 101 so that the curvature of the curved portion of the sheet member 100 is the same (or approximately the same) as the curvature of the curved surface of the curved substrate 101. For this reason, as described above, it is preferable to place a portion of the sheet member 100 on the placement surface of the curved substrate 101, and then change the position of the sheet member 100 to bend it.

[0046] When changing the posture to the moving suction posture, the amount of movement of each of the first suction members 31 may be changed according to the curvature of the curved portion of the placement surface of the curved substrate 101. In this case, the mounting unit 4 may be configured to include a curvature measuring means (first curvature measuring means) that optically measures the curvature of the curved portion of the mounting surface of curved substrate 101. This curvature measuring means is not particularly limited as long as it can measure the curvature, and may be, for example, a measuring device that optically measures the curvature using light from a laser or LED as a light source. In other words, the posture change operation to the above-mentioned moving suction posture may be performed in the following order: an operation to acquire (measure) the curvature of the curved portion of the placement surface; an operation to determine the amount of movement of the first suction member 31; and an operation to move the first suction member 31. The operation of acquiring the curvature of the curved portion of the support surface may be an operation of acquiring a value manually input by an operator, or an operation of storing (inputting) pre-measured curvature data into a memory means of a control device (not shown) and acquiring a value from the curvature data.

[0047] Alternatively, the curvature of the curved portion of the placement surface may be acquired, and the curvature (amount of deformation) of the curved portion of the sheet member 100 after deformation may be calculated based on the acquired curvature, and each first attraction member 31 may be moved so that the curved portion of the sheet member 100 has the calculated curvature. In this case, a curvature measuring means (second curvature measuring means) may be provided to measure the curvature of the curved portion of the sheet member 100, and each first attraction member 31 may be moved until the calculated curvature is measured. Alternatively, the curvature of the curved portion of the sheet member 100 after deformation may be calculated, and the movement amount of each first attraction member 31 may be calculated based on the calculated curvature.

[0048] In the above embodiment, an example has been shown in which the plurality of attraction members 30 are configured to include the first attraction member 31 and the second attraction member 32, but the present invention is not limited to this. The plurality of attraction members 30 may be configured to include only the first attraction member 31. In this case, for example, the first attraction member 31 on the central side may be configured not to move relative to the base part 29 (not to move up and down) when changing the position.

[0049] The above-described transport unit 2 has been described as an example in which the arm unit 12 and the suction unit 13 are attached to the moving device 11 that travels while being guided by the rail member 10, but the present invention is not limited to this. For example, the transport unit may be a robot having a multi-joint arm with the suction unit 13 attached to the tip of the arm.

[0050] In the above embodiment, an example has been shown in which some of the plurality of attraction members 30 (the plurality of first attraction members 31) are moved in the attraction direction to change their posture to the moving attraction posture. However, the present invention is not limited to this. For example, as shown in Fig. 5, the adsorption unit 213 of the stacking device may change its position from a planar adsorption position (see Fig. 5(a)) to a moving adsorption position (see Fig. 5(b)) by moving some of the adsorption members 30 (plurality of first adsorption members 231) in a direction perpendicular to the adsorption direction. A second embodiment of the present invention will be described below in detail with reference to the drawings. Note that parts similar to those in the above-described embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

[0051] The adsorption unit 213 has a base portion 229 and a plurality of adsorption members 30 . The base portion 229 has a base central portion 229a and a small base portion 229b connected to the base central portion 229a via an arm member. When the arm member of the base portion 229 extends and contracts, the small base portion 229b moves relative to the base central portion 229a. That is, the small base portion 229b can move in a direction perpendicular to the suction direction and in a horizontal direction (a direction parallel to a horizontal plane).

[0052] The adsorption member 30 of this embodiment is composed of a plurality of first adsorption members 231 and a second adsorption member 32. The first attraction member 231 is an attraction member 30 attached to the small base portion 229b. This first attraction member 231 is substantially the same member as the first attraction member 31 described above, but differs from the first attraction member 31 described above in that it cannot move up and down relative to the small base portion 229b and does not move relative to it. The second attraction member 32 is an attraction member 30 attached to the base central portion 229a.

[0053] The suction unit 213 of this embodiment is also capable of changing its posture between the planar suction posture and the moving suction posture.

[0054] The planar suction posture in this embodiment is a posture in which the small base portion 229b is positioned horizontally away from the base central portion 229a, and the first suction member 231 is positioned horizontally away from the closest second suction member 32, as shown in Figure 5(a). The planar suction posture of this embodiment is also a posture in which the lower end portions of the suction members 30 are positioned on approximately the same plane (at approximately the same height).

[0055] As shown in Figure 5(c), the moving adsorption posture is a posture in which the small base portion 229b is closer to the base central portion 229a than in the planar adsorption posture, and the first adsorption member 231 is positioned closest to the second adsorption member 32. That is, the moved suction posture is a posture in which the small base portion 229b and the first suction member 231 fixed to the small base portion 229b are moved toward the center in the horizontal direction (left and right direction in FIG. 5) from the planar suction posture.

[0056] Next, the laminate formation operation of this embodiment will be described in detail with reference to FIG.

[0057] In this embodiment, the stacking device also holds the sheet member 100 in a planar suction position and transports the sheet member 100 onto the curved substrate 101 on the mounting section 4, with a portion of the sheet member 100 placed on the mounting surface of the curved substrate 101 (see Figure 5(a)). 5(b), the stacking device starts changing the position of the suction unit 13 from the planar suction position to the moving suction position. At this time, before or simultaneously with the start of the position change, the suction and holding of the sheet member 100 by the second suction member 32 is released. That is, the sheet member 100 is now held by the first suction member 231.

[0058] Furthermore, when changing the posture to the moving adsorption posture, or before or after, the stacking device moves the entire adsorption section 213 downward (toward the curved substrate 101). Then, as the posture of the adsorption section 213 changes, the sheet member 100 becomes curved, and as the adsorption section 213 moves downward, the curved sheet member 100 becomes placed on the curved substrate 101 (see FIG. 5(c)).

[0059] Here, in the stack formation operation of this embodiment, as described above, the suction and holding of the sheet material 100 by the second attraction member 32 is released when the position is changed. Similarly, in the stack formation operation of the first embodiment described above, it is possible to release the suction and holding of the second attraction member 32 when the position is changed, but from the viewpoint of more securely holding the sheet material 100 when the position is changed, it is preferable to use the operation of the first embodiment described above. In other words, it is preferable to maintain suction (suction and holding) in each of the multiple attraction members 30.

[0060] In the laminate formation operation of this embodiment, the amount of movement of the small base portion 229b and the first attraction member 231 may also be determined based on the curvature of the curved portion of the placement surface. Similarly, the amount of deformation of the sheet member 100 may be determined based on the curvature of the curved portion of the placement surface, and the amount of movement of the small base portion 229b and the first attraction member 231 may be determined based on the amount of deformation of the sheet member 100.

[0061] In the stacking device 1 of the first embodiment described above, the first suction member 31 is moved in the suction direction to transition to the moving suction posture, but it is also possible to move the first suction member 31 in the suction direction and horizontally to transition to the moving suction posture. [Explanation of symbols]

[0062] 1. Stacking device 31b suction pad section (suction pad, first suction pad) 32b Adsorption pad part (adsorption pad) 100 Sheet member 101 Curved board

Claims

1. A lamination device that laminates sheet members on a mounting surface of a curved substrate, a plurality of suction pads including a first suction pad; a moving means for moving at least the first suction pad among the plurality of suction pads, a planar suction posture in which the suction portions of the suction pads are distributed on substantially the same plane; the first suction pad is capable of being moved from the planar suction posture to a movable suction posture, A stacking device that adsorbs the sheet member in the planar adsorption position, places a portion of the sheet member on the mounting surface of the curved substrate while in the planar adsorption position, and changes from the state in which a portion of the sheet member is placed on the mounting surface of the curved substrate to the moving adsorption position, thereby placing the sheet member along the mounting surface of the curved substrate.

2. The stacking device according to claim 1 , wherein the moving means moves the first suction pad in a suction direction of the suction portion.

3. The stacking device according to claim 1 , wherein the moving means moves the first suction pad toward the center of the sheet member.

4. a curvature measuring means for measuring the curvature of the mounting surface of the curved substrate; 4. The stacking device according to claim 1, wherein the amount of movement of the first suction pad is adjusted to match the curvature of the mounting surface of the curved substrate by changing the posture from the planar suction posture to the moving suction posture.

5. a curvature measuring means for measuring the curvature of the mounting surface of the curved substrate; The stacking device according to any one of claims 1 to 3, wherein the amount of deformation of the sheet member is adjusted to match the curvature of the mounting surface of the curved substrate by changing the posture from the planar suction posture to the moving suction posture.

6. A lamination device that laminates sheet members on a mounting surface of a curved substrate, a plurality of suction pads including a first suction pad; a moving means for moving at least the first suction pad among the plurality of suction pads, a planar suction posture in which the suction portions of the suction pads are distributed on substantially the same plane; the first suction pad is capable of being moved from the planar suction posture to a movable suction posture, The first suction pad is moved in a suction direction of the suction portion to transition from the planar suction posture to the moving suction posture, The stacking device sucks the sheet member in the planar suction posture and performs the following operation (1) or (2). (1) The sheet member is placed on the placement surface of the curved substrate in a deformed state by changing its position from the planar suction position to the moving suction position. (2) In the planar suction position, a portion of the sheet member is placed on the support surface of the curved substrate, and the position is changed from the state in which a portion of the sheet member is placed on the support surface of the curved substrate to the moving suction position, and the sheet member is placed along the support surface of the curved substrate.

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