Conveying apparatus and conveying method

Abstract

To perform conveyance in a state of suppressing the occurrence of quality deterioration of a workpiece.SOLUTION: A transport device 1 is a transport device for transporting a workpiece having a single sheet shape and having a porous sheet provided on an outermost surface as a suction surface, and includes an input unit 11 configured to set suction conditions under which a suction pad 32 the workpiece before the workpiece is transported, and a calculation unit 12 configured to determine whether or not a sagging amount larger than a predetermined amount occurs in the workpiece when the suction pad 32 and lifts the workpiece according to the suction conditions, and to transport the workpiece when the sagging amount is equal to or less than the predetermined amount and not to transport the workpiece when the sagging amount is larger than the predetermined amount.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a porous sheet conveying device and a porous sheet conveying method. [Background technology]

[0002] In recent years, porous sheets have been used in battery cells, etc. Patent Document 1 describes a conveying device that enables stable conveyance and pickup of a porous sheet body. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-70133 Summary of the Invention [Problem to be solved by the invention]

[0004] Here, the thin workpiece is described as a workpiece attached to a lithium battery cell. When a thin workpiece including a porous sheet is suction-transported, the suction pad is suctioned at a position inside the edge of the porous sheet. This can cause the workpiece to sag due to its own weight in the range from the position where the suction pad suctions the porous sheet to the edge of the workpiece. The force acting on the sagging edge of the workpiece can cause the workpiece to crack, chip, bend, or fall off the suction pad, resulting in poor quality of the workpiece.

[0005] For example, the pressure loss inherent in the porous sheet may cause the workpiece to break, crack, or chip at the base where the sagging occurs. Also, if the amount of sagging at the end of the workpiece becomes large, a gap is likely to form between the porous sheet and the suction pad, which may cause the suction to break and the workpiece to fall.

[0006] The present disclosure provides a transport device and a transport method that suppress deterioration in the quality of workpieces due to transport. [Means for solving the problem]

[0007] The conveying device according to the present disclosure is a conveying device for conveying a workpiece in the form of a single sheet having a porous sheet provided on the outermost surface as an adsorption surface, and is equipped with an input unit for setting suction conditions under which an adsorption pad will adsorb to the workpiece before the workpiece is conveyed, and a calculation unit for determining whether or not a drooping amount greater than a predetermined amount occurs on the workpiece when the suction pad adsorbs to the workpiece and lifts it according to the suction conditions, and for deciding to convey the workpiece if the drooping amount is equal to or less than the predetermined amount, and not to convey the workpiece if the drooping amount is greater than the predetermined amount. This makes it possible to determine whether the suction pads are in a suction condition suitable for transporting the workpiece before the workpiece is transported.

[0008] The conveying method disclosed herein is a method for conveying a workpiece in the form of a single sheet having a porous sheet on the outermost surface as an adsorption surface, in which, before conveying the workpiece, suction conditions under which an adsorption pad will adsorb to the workpiece are input, and when the suction pad adsorbs to the workpiece under the suction conditions and lifts it up, it is determined whether or not a drooping amount greater than a predetermined amount occurs on the workpiece. This makes it possible to determine whether the suction pads are in a suction condition suitable for transporting the workpiece before the workpiece is transported. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to provide a conveying device and a conveying method that convey workpieces while suppressing deterioration in quality. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a configuration diagram showing an example of the configuration of a transport device according to a first embodiment. [Figure 2]2 is a diagram showing an example of a manufacturing process for a lithium battery cell according to the first embodiment. FIG. [Figure 3] 3A and 3B are a perspective view and a side view of a workpiece W showing the amount of dripping and the location of the root of the amount of dripping according to the first embodiment. [Figure 4] 4 is a flowchart showing an operation flow of the transport device according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Embodiment 1 A transport device and a transport method according to this embodiment will be described below with reference to the drawings. Fig. 1 is a diagram showing an example of the configuration of a transport device. The transport device 1 includes an input unit 11 that allows a user to input transport conditions for transporting a workpiece W, a calculation unit 12 that determines whether the transport conditions input by the input unit 11 can transport the workpiece W without causing a deterioration in quality, and an arm 13 that transports the workpiece W with a suction pad attached to the workpiece W.

[0012] Here, we will explain the objects that are transported by the transport device 1. The transport device 1 is a transport device that transports lithium battery cells as works W.

[0013] Here, the workpiece W to be transported by the transport device 1 will be described. As shown in Fig. 2, in the manufacturing process of a lithium battery cell, a plurality of electrode bodies, which are the workpieces, are manufactured in a state in which they are continuously arranged in one direction at predetermined intervals. That is, in the manufacturing process, flat electrolyte layers 21, which are each arranged at a predetermined interval, are sandwiched and sealed in the thickness direction between positive electrode composite layers 22 and negative electrode composite layers 23, and further, separator 24 is laser welded to the positive electrode composite layer 22 side. Here, the description will be made assuming that separator 24 is a porous sheet.

[0014] Thereafter, in a sheet-cutting process, one workpiece W is cut out from a state in which a plurality of workpieces W are arranged continuously. A terminal is joined to each of the cut-out workpieces W, and a seal is welded. Therefore, a porous sheet is arranged on the outermost surface of each workpiece W on the side of the positive electrode composite layer 22.

[0015] Here, the conveying device 1 conveys the workpiece W by adsorbing the porous sheet arranged on the outermost surface thereof with a plurality of suction pads 32 of the suction hand 31 provided at the tip of the arm 13. In this way, the conveying device 1 can quickly stack the sheet-formed workpieces W with spacers sandwiched between each workpiece W.

[0016] Returning to FIG. 1, the conveying device 1 will now be described.

[0017] The input unit 11 is an input unit that can input and set suction conditions for the suction pad 32 provided on the arm 13 to suction the workpiece W in response to a user's operation. The suction conditions are input by the input unit 11 before the arm 13 transports the workpiece W. For example, the input unit 11 has a keyboard that the user operates, a display that confirms the input contents, etc., but the items used as the input unit 11 are not limited to these.

[0018] The calculation unit 12 determines whether or not a sagging amount greater than a predetermined amount occurs on the workpiece W when the suction pad 32 provided on the arm 13 is sucked onto the workpiece W and lifted up, in accordance with the suction conditions input by the input unit 11. Here, the calculation unit 12 determines to transport the workpiece W if the sagging amount of the workpiece W is equal to or less than the predetermined amount, and determines not to transport the workpiece W if the sagging amount of the workpiece W is greater than the predetermined amount.

[0019] As a specific example, the calculation unit 12 calculates the predicted amount of sagging using a predetermined prediction formula for the amount of sagging of the workpiece W. Furthermore, the calculation unit 12 can determine whether or not the workpiece W will fall based on the calculated predicted amount of sagging using a workpiece W drop discrimination formula. When the calculation unit 12 determines using this workpiece W drop discrimination formula that the workpiece W will fall during transport, it can decide not to transport the workpiece W, and when it determines that the workpiece W will not fall during transport, it can decide to transport the workpiece W.

[0020] In other words, the calculation unit 12 can be considered to determine the harmfulness of the amount of sagging of the workpiece W when determining whether to transport the workpiece W. Specifically, if the amount of sagging of the workpiece W is greater than a predetermined amount and the calculation unit 12 determines that the amount of sagging of the workpiece W is harmful, the calculation unit 12 decides not to transport the workpiece W. On the other hand, if the amount of sagging of the workpiece W is less than a predetermined amount and the calculation unit 12 determines that the amount of sagging of the workpiece W is not harmful, the calculation unit 12 decides to transport the workpiece W.

[0021] Furthermore, when it is determined that the transport will not be performed, the calculation unit 12 can change the suction conditions. Here, the calculation unit 12 feeds back information related to the suction conditions, such as the suction conditions used when it was determined that the transport will not be performed and the calculation results, and can determine changes to the suction conditions, such as changing the position at which the suction pad 32 suctions the workpiece W and changing the negative pressure settings for suction.

[0022] In this case, the calculation unit 12 can determine whether or not to transport the workpiece W based on the changed suction conditions.

[0023] As shown in Fig. 2, the arm 13 has a suction hand 31 at its tip. The suction hand 31 is provided with a plurality of suction pads 32. For example, the arm 13 has a plurality of joints, and after the suction pads 32 have adsorbed to the workpiece W and lifted it up, the joints operate to transport the workpiece W. As a result, as shown in Fig. 2, the arm 13 can transport the workpieces W in a stacked state.

[0024] Here, an equation for predicting the amount of sagging of the workpiece W and an equation for determining whether the workpiece W has fallen based on the predicted amount of sagging of the workpiece W will be described.

[0025] 3(a) is a perspective view showing a state in which a plurality of suction pads 32 provided at the tip of arm 13 are suctioned to the surface of a sheet-like workpiece W, and FIG. 3(b) is a side view thereof. Here, the explanation will be given assuming that one workpiece W has a positive electrode composite layer 22 disposed above an electrolyte layer 21 and a negative electrode composite layer 23 disposed below the electrolyte layer 21.

[0026] In other words, the workpiece W is a plate having a predetermined width in the horizontal direction (X and Y directions), and has the positive electrode composite layer 22, the electrolyte layer 21, and the negative electrode composite layer 23 stacked in the vertical direction (Z direction). The X, Y, and Z axes are perpendicular to each other.

[0027] Next, an example of the definition of the sagging amount of the workpiece W will be described. As shown in Fig. 3(b), the sagging amount of the workpiece W is defined as the distance in the Z direction between the position (X1, Y1, Z1) of the electrolyte layer 21 directly below the suction pad 32 that is closest to the end of the workpiece W among the multiple suction pads 32, and the position (X2, Y2, Z2) of the electrolyte layer 21 at the end of the workpiece W. In other words, the sagging amount of the workpiece W can be defined as |Z2 - Z1|.

[0028] Next, an example of the definition of the distance to the root of the sagging amount of the workpiece W will be described. As shown in Fig. 3(b), the distance to the root of the sagging amount of the workpiece W is the horizontal distance between the XY coordinates of the electrolyte layer 21 directly below the suction pad 32 arranged closest to the end of the workpiece W and the XY coordinates of the electrolyte layer 21 at the end of the workpiece W.

[0029] Next, an example of a prediction formula for the amount of sagging Y of the workpiece W will be described. The calculation unit 12 calculates the amount of sagging Y by using the value of the distance to the root of the amount of sagging of the workpiece W, a predetermined value determined according to the path of the piping arranged in the workpiece W (hereinafter referred to as the value of the piping path), and the value of the negative pressure generated for suction in the suction pad 32 (hereinafter referred to as the value of the set negative pressure). Droop amount Y = -5.176 + 1.043 * Distance to the root of the workpiece W + 0.027 * Pipe route value + 2.049 * Set negative pressure value The amount of sagging Y of the workpiece W can be calculated as follows.

[0030] Next, a description will be given of a judgment formula for determining whether the workpiece W has fallen, using the calculated sagging amount Y of the workpiece W. The calculation unit 12 calculates F1, which is a judgment reference value, as follows: F1 = 13.239 + 0.027 * Set negative pressure value - 0.001 * Pipe routing value - 0.05 * Dripping amount Y Here, the calculation unit 12 determines that if the value of F1 is greater than 0, the workpiece W will not fall, and if it is less than 0, the workpiece W will fall.

[0031] Below, a series of operation flows will be explained in which, if the conveyance device 1 determines before conveyance of the workpiece W that the workpiece W will fall under the input suction conditions, the conveyance device 1 feeds back the determination result, and conveys the workpiece W after the suction conditions are changed to a state in which the workpiece W will not fall. Fig. 4 is a flowchart of the conveyance device 1's determination of whether the workpiece W will fall.

[0032] First, the input unit 11 inputs suction conditions (step S1). Here, for example, the input unit 11 can set the suction position of the suction pad 32 relative to the workpiece W and the negative pressure value for suction, based on input by the user.

[0033] The calculation unit 12 determines the harmfulness of the amount of sagging of the workpiece W (step S2). Here, the harmfulness of the amount of sagging of the workpiece W can be determined by using the prediction formula for the amount of sagging Y of the workpiece W and the determination formula for determining whether the workpiece W will fall, as described above. That is, if the calculation unit 12 determines that the workpiece W will fall, it considers it to be harmful (Yes in step S2) and proceeds to step S3. On the other hand, if the calculation unit 12 determines that the workpiece W will not fall (No in step S2), it proceeds to step S4.

[0034] The calculation unit 12 reconsiders the input conditions (step S3). That is, the calculation unit 12 determines new suction conditions to be input and set in step S1 by feeding back information on the suction conditions, including information on the amount of dripping determined in step S2. Thereafter, the process returns to step S1, and the new suction conditions are input and set.

[0035] Typically, the transfer device 1 repeatedly executes the processes of steps S1 to S3 until it is determined in step S2 that the workpiece W will not fall and the process proceeds to step S4.

[0036] If the calculation unit 12 determines that the workpiece W will not fall, the conveying device 1 operates the arm 13 having the suction pad 32, assuming that the suction pad 32 can actually adsorb the workpiece W and convey it (step S4).

[0037] In this way, when the conveying device 1 adsorbs the workpiece W to the suction pad and conveys it, it determines before the conveyance whether or not the workpiece W will be defective due to the conveyance, and only when it is determined that no defects will be caused can the actual conveyance be carried out.

[0038] In other words, the conveying device 1 predicts defects that may occur in the workpieces W if they are conveyed as is before the workpieces W are conveyed, and if it is likely that a defect will occur in the workpieces, it changes the suction conditions until the defect no longer occurs, thereby avoiding the occurrence of the defect. Therefore, if the workpieces W are cells of a lithium ion battery, even a defect in one workpiece W may result in a loss of the product itself and a loss in manufacturing costs, but the conveying device 1 can avoid these losses.

[0039] In addition, the number of suction pads 32 provided on the suction hand 31 can be reduced, as there is no need to provide a large number of suction pads 32 in advance to prevent the workpiece W from sagging, thereby reducing costs.

[0040] The present invention is not limited to the above-described embodiment, and can be appropriately modified without departing from the spirit of the present invention. In other words, the above description has been omitted or simplified as appropriate for the sake of clarity, and a person skilled in the art can easily modify, add, or convert each element of the embodiment within the scope of the present invention.

[0041] For example, in the conveyance device 1, the formula for determining the amount of sagging of the workpiece W and whether the workpiece W has fallen is not limited to the above-mentioned formula, and the formula can be changed as desired.

[0042] In the above-described operation flow, the transport device 1 is described as determining whether or not the workpiece W will fall from the predicted value of the sagging amount calculated based on the prediction formula for the sagging amount of the workpiece W using a judgment formula for determining whether or not the workpiece W will fall, but this is not limited to this. As an example, the transport device 1 may determine whether or not to transport the workpiece W at the point in time when the predicted value of the sagging amount is calculated from the prediction formula for the sagging amount of the workpiece W.

[0043] Furthermore, although the separator 24 has been described as being a porous sheet, the present invention is not limited to this configuration, and a porous sheet may be used separately from the separator 24 . [Explanation of symbols]

[0044] 1. Conveyor device 11 Input section 12 Arithmetic section 13 Arm 21 Electrolyte layer 22 Positive electrode mixture layer 23 Negative electrode composite layer 24 Separator 31 Suction Hand 32 suction pad

Claims

1. A conveying device for conveying a workpiece having a single sheet-like porous sheet provided on the outermost surface as an adsorption surface, an input unit for setting suction conditions under which the suction pad suctions the workpiece before the workpiece is conveyed; a calculation unit that determines whether or not a sagging amount greater than a predetermined amount occurs on the workpiece when the suction pad is sucked onto the workpiece and lifted according to the suction conditions, and determines to transport the workpiece if the sagging amount is equal to or less than the predetermined amount, and not to transport the workpiece if the sagging amount is greater than the predetermined amount. Conveying device.

2. The calculation unit When the amount of sagging occurring on the workpiece under predetermined suction conditions is greater than the predetermined amount and a decision is made not to convey the workpiece, information on the predetermined suction conditions is fed back, new suction conditions are determined, and it is again determined whether or not a sagging amount greater than the predetermined amount will occur on the workpiece. The conveying device according to claim 1 .

3. The calculation unit As the suction condition, when a plurality of the suction pads are suctioned to the workpiece, the amount of sagging occurring between the suction pad arranged closest to the end of the workpiece and the end of the workpiece is calculated, and it is determined whether or not the amount of sagging occurring is greater than the predetermined amount. The conveying device according to claim 2 .

4. The calculation unit The sagging amount of the workpiece is calculated using a predetermined sagging amount prediction formula, A workpiece drop determination is performed using a predetermined workpiece drop determination formula for the predicted sagging amount calculated using the sagging amount prediction formula, and if it is determined that the workpiece will drop, it is determined that the workpiece will not be transported, and if it is determined that the workpiece will not drop, it is determined that the workpiece will be transported. The conveying device according to claim 3 .

5. A method for transporting a workpiece having a porous sheet provided on the outermost surface as an adsorption surface, comprising: Before conveying the workpiece, suction conditions for the suction pad to suction the workpiece are input; determining whether or not a sagging amount greater than a predetermined amount occurs on the workpiece when the suction pad is suctioned to the workpiece and lifted up under the suction conditions; Transportation method.

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