Lamination device and lamination system

Abstract

This lamination device 100 comprises: a retention part 10 that retains a lamination object 1, has a transparent portion 12 capable of transmitting imaging light therethrough in a direction perpendicular to a retention surface 10a that comes into contact with the lamination object 1, the transparent portion 12 being provided with an alignment mark 13; a lamination stage 20 that is for laminating the lamination object 1 retained by the retention part 10; an imaging unit 30 that is disposed at a position on the side opposite to the retention surface 10a across the retention part 10 and is capable of capturing, via the transparent portion 12 of the retention part 10, an image of the alignment mark 13 and at least a portion of the lamination object 1 retained by the retention part 10; and a device control unit 40 that is capable of detecting the positional displacement of the lamination object 1 retained by the retention part 10 on the basis of the image captured by the imaging unit 30 and, on the basis of the detected positional displacement, correcting the relative positional displacement between the lamination object 1 retained by the retention part 10 and the lamination stage 20.

Description

[Technical Field]

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

[0002] A stacking device is known that picks up stacking objects that are conveyed sequentially and stacks them sequentially on a stacking stage. Also known is a technique for correcting relative positional deviation between the stacking objects and the stacking stage before stacking the stacking objects on the stacking stage.

[0003] Patent Document 1 discloses a stacking device in which an arm member sucks and holds objects to be stacked that are conveyed by a conveying device such as a belt conveyor, and stacks them on a stacking stage. This stacking device is configured to capture images of the objects to be stacked that are conveyed by the conveying device with a camera, correct any positional deviation of the objects to be stacked based on the captured image, and then suck and hold the objects to be stacked whose positional deviation has been corrected, and stack them on the stacking stage. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-33868 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the stacking device described in Patent Document 1, if the stacking object shifts in position when the arm member adsorbs and holds the stacking object, there is a possibility that the stacking object will be stacked on the stacking stage in a misaligned state.

[0006] The present invention solves the above-mentioned problems, and aims to provide a stacking device that can suppress positional shifting of stacked objects stacked on a stacking stage even if a position shift occurs when the stacked objects are held by a holding part, and a stacking system equipped with such a stacking device. [Means for solving the problem]

[0007] The lamination device of the present invention comprises: a holding unit that holds the stacking object, the holding unit having a transparent portion that can transmit imaging light in a direction perpendicular to a holding surface that contacts the stacking object, the holding unit having an alignment mark provided on the transparent portion; a stacking stage for stacking the stacking objects held by the holding unit; an imaging unit that is arranged on a side opposite to the holding surface with respect to the holding unit and is 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; an apparatus control unit that detects a positional deviation of the stacking object held by the holding unit based on the image captured by the imaging unit, and corrects a relative positional deviation between the stacking object held by the holding unit and the stacking stage based on the detected positional deviation; The present invention is characterized by comprising:

[0008] The stacking system of the present invention comprises: The lamination device; a plurality of supply mechanisms capable of supplying the stacking objects to a plurality of supply positions, respectively; a moving mechanism including a stator of a linear motor having a predetermined running track and a movable element of the linear motor that is movable between the plurality of supply positions along the running track; Equipped with The stacking device is characterized in that the holding portion and the stacking stage are included in the mover. [Effects of the Invention]

[0009] According to the stacking device of the present invention, the imaging unit captures an image of at least a portion of the stacking object held by the holding unit and the alignment mark through the transparent part of the holding unit, and the device control unit detects a positional shift of the stacking object held by the holding unit based on the image captured by the imaging unit, and corrects the relative positional shift between the stacking object held by the holding unit and the stacking stage based on the detected positional shift.Therefore, even if a positional shift occurs when the stacking object is held by the holding unit, it is possible to suppress a positional shift of the stacking object stacked on the stacking stage.

[0010] According to the stacking system of the present invention, the stacking device includes the stacking device described above, a plurality of supply mechanisms capable of supplying stacked objects, and a moving mechanism, and the holding unit and stacking stage of the stacking device are included in the movable element of the moving mechanism. Therefore, even if a positional shift occurs when the stacked objects are held by the holding unit included in the movable element, it is possible to suppress a positional shift of the stacked objects stacked on the stacking stage. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a perspective view schematically illustrating a configuration of a stacking device according to an embodiment. [Figure 2] FIG. 2 is a plan view schematically showing the configuration of the holding portion when viewed from the holding surface side. [Figure 3] 10 is an enlarged view of the area near the transparent portion when the holding portion is viewed from the opposite side to the holding surface. FIG. [Figure 4] 10 is an enlarged view of the area near the transparent portion when the holding portion holding the stacking object provided with the position confirmation mark is viewed from the opposite side to the holding surface. FIG. [Figure 5] FIG. 10 is a plan view for explaining the movement direction of the stacking stage. [Figure 6] 1 is a plan view schematically illustrating a configuration of a stacking system including a stacking device according to an embodiment. [Figure 7] 1 is a diagram showing a schematic configuration of a mover of a movement mechanism when viewed in a direction along the running track of a stator. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] The features of the present invention will be specifically described below by showing embodiments of the present invention.

[0013] Fig. 1 is a perspective view showing a schematic configuration of a stacking device 100 according to one embodiment. The stacking device 100 according to one embodiment includes a holding unit 10, a stacking stage 20, an imaging unit 30, and an apparatus control unit 40. Note that Fig. 1 shows a simplified external shape of the holding unit 10, the detailed shape of which is shown in Fig. 2.

[0014] The holding unit 10 is configured to hold the stacking object 1 and to stack the held stacking object 1 on the stacking stage 20. The stacking object 1 stacked on the stacking stage 20 has, for example, a sheet-like shape. However, the stacking object 1 is not limited to being sheet-shaped. The stacking objects 1 are stacked in order on the stacking stage 20.

[0015] As an example, as shown in FIG. 2, a plurality of suction holes 11 are provided on the holding surface 10a of the holding unit 10 that comes into contact with the stacking object 1, and the stacking object 1 is adsorbed and held on the holding surface 10a by suction via the plurality of suction holes 11. By providing a plurality of suction holes 11 on the holding surface 10a of the holding unit 10, the stacking object 1 can be stably adsorbed and held. In the example shown in FIG. 2, the shape of the suction holes 11 is circular when viewed in a direction perpendicular to the holding surface 10a, but the shape of the suction holes 11 is not limited to a circle. In FIG. 2, the stacking object 1 adsorbed and held on the holding surface 10a is indicated by a dotted line.

[0016] In the example shown in FIG. 2, the shape of the holding unit 10 when viewed in a direction perpendicular to the holding surface 10a is not rectangular. Specifically, the shape of the holding unit 10 when viewed in a direction perpendicular to the holding surface 10a is a rectangular shape with four recessed portions 10b on the inside. Therefore, as shown in FIG. 2, when the stacking object 1 is adsorbed and held by the holding surface 10a, a portion of the stacking object 1 is located outside the holding surface 10a. However, the shape of the holding unit 10 is not limited to the shape shown in FIG. 2. Furthermore, the method by which the holding unit 10 holds the stacking object 1 is not limited to adsorption and holding.

[0017] The holding part 10 has a transparent part 12 that can transmit imaging light in a direction perpendicular to the holding surface 10a. The transparent part 12 is made of a material that has a transmittance that allows the imaging light to pass through, for example, a transparent glass material such as quartz glass or float glass, or a transparent resin material such as acrylic.

[0018] The transparent portions 12 are provided at positions that overlap at least a portion of the stacking object 1 in a direction perpendicular to the holding surface 10a when the holding portion 10 holds the stacking object 1. In this embodiment, the transparent portions 12 are provided at corner positions of the holding portion 10, as shown in FIGS. 1 and 2. For reasons that will be described later, the transparent portions 12 are preferably provided at two corner positions of the holding portion 10. In the example shown in FIGS. 1 and 2, the shape of the transparent portions 12 when viewed in a direction perpendicular to the holding surface 10a is rectangular, but they may have a shape other than rectangular.

[0019] An alignment mark 13 is provided on the transparent portion 12 of the holding portion 10. The alignment mark 13 is a mark that serves as a reference when detecting misalignment of the stacking object 1 held by the holding portion 10. When the transparent portions 12 are provided at two corners of the holding portion 10, the alignment mark 13 is provided on each of the two transparent portions 12. In this embodiment, the alignment mark 13 is provided on the holding surface 10a of the transparent portion 12 that has a thickness in a direction perpendicular to the holding surface 10a.

[0020] In order to detect misalignment of the stacked object 1, it is also possible to make the position of the holding part 10 where the transparent part 12 is provided a recess with nothing provided therein, and to make it shaped so that it protrudes from the edge of the recess to the position of the alignment mark 13, with the protruding tip serving as the alignment mark 13. However, by providing the transparent part 12, the area for holding the stacked object 1 is increased, making it possible to hold the stacked object 1 stably.

[0021] 3 is an enlarged view of the area near the transparent portion 12 when the holder 10 is viewed from the side opposite the holding surface 10a. In FIG. 3, the stacking object 1 held by the holder 10 is also shown as a dotted area.

[0022] The alignment mark 13 may have any shape as long as it is possible to detect the positional deviation of the lamination object 1 held by the holding unit 10. In the example shown in Fig. 3, the alignment mark 13 has a rectangular shape.

[0023] The holding unit 10 holds the lamination object 1 at the supply position of the lamination object 1, moves toward the lamination stage 20, and then releases its hold on the lamination object 1, thereby laminating the lamination object 1 on the lamination stage 20. In this embodiment, the direction perpendicular to the holding surface 10a of the holding unit 10 is the vertical direction, and the holding unit 10 is configured to be movable up and down. That is, after holding the lamination object 1, the holding unit 10 descends toward the lamination stage 20 and releases its hold on the lamination object 1, thereby laminating the lamination object 1 on the lamination stage 20.

[0024] The stacking stage 20 is used to stack the stacking objects 1 held by the holder 10.

[0025] The imaging unit 30 is disposed on the opposite side of the holding surface 10a with respect to the holding unit 10, and is capable of capturing an image of at least a portion 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. When the holding surface 10a of the holding unit 10 is in a direction parallel to the horizontal direction as in this embodiment, the imaging unit 30 is located vertically above the holding unit 10 that holds the stacking object 1. The stacking stage 20 is located vertically below the holding unit 10 that holds the stacking object 1.

[0026] In this embodiment, the stacking object 1 has a rectangular shape, and the imaging unit 30 simultaneously captures an image of a corner 1a (see FIG. 3) of the stacking object 1 held by the holding unit 10 and an alignment mark 13 of the holding unit 10. As shown in FIGS. 2 and 3, the transparent unit 12 is provided at the position of the corner of the holding unit 10, so that the imaging unit 30 can simultaneously capture an image of the corner 1a of the stacking object 1 held by the holding unit 10 and the alignment mark 13.

[0027] When alignment mark 13 is provided on holding surface 10a of holder 10 in transparent portion 12, the distance from imaging unit 30 to alignment mark 13 and the distance from imaging unit 30 to stacked object 1 held by holder 10 are approximately the same. In this case, at least a portion of stacked object 1 and alignment mark 13 can be simultaneously imaged in a more focused state. Therefore, alignment mark 13 is preferably provided on holding surface 10a of holder 10 in transparent portion 12.

[0028] FIG. 1 shows an example configuration in which transparent portions 12 are 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 each capture an image of one corner of the stacking object 1 and one alignment mark 13 of the holding portion 10. By providing two imaging units 30 corresponding to the two transparent portions 12 in this way, it is possible to more accurately capture an image of the relative position of the stacking object 1 with respect to the holding portion 10. However, it is also possible to provide only one imaging unit 30 and use the single imaging unit 30 to simultaneously capture images of the two corners of the stacking object 1 and the two alignment marks 13.

[0029] The device control unit 40 is capable of detecting a positional deviation of the stacking object 1 held by the holding unit 10 based on the image captured by the imaging unit 30, and correcting a relative positional deviation between the stacking object 1 held by the holding unit 10 and the stacking stage 20 based on the detected positional deviation. The device control unit 40 is also capable of raising and lowering at least one of the holding unit 10 and the stacking stage 20. The imaging unit 30 and the device control unit 40 may be connected by wiring such as a signal line, or may be connected wirelessly.

[0030] In order to correct the relative positional 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, may move the stacking stage 20, or may move both the holding unit 10 and the stacking stage 20.

[0031] The imaging unit 30 may be provided with an image processing unit, and the image processing unit may detect a positional deviation of the stacked object 1 held by the holding unit 10 based on the captured image. In this case, the positional deviation of the stacked object 1 detected by the image processing unit is sent 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.

[0032] An example of a method for detecting misalignment of stacking object 1 held by holding unit 10 will be described below based on an image captured by imaging unit 30. In the example shown in Fig. 3, alignment mark 13 is arranged such that, in a plan view when viewed in a direction perpendicular to holding surface 10a, first side edge 13a of rectangular alignment mark 13 is parallel to first side surface 12a of transparent portion 12, which is also rectangular in plan view, and second side edge 13b of alignment mark 13 is parallel to second side surface 12b of transparent portion 12.

[0033] Based on the image captured by the imaging unit 30, 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 holder 10, 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. In FIG. 3 , the X-axis direction is parallel to the first side edge 13a of the alignment mark 13, and the Y-axis direction is parallel to the second side edge 13b of the alignment mark 13.

[0034] Next, the device control unit 40 detects a positional deviation of the stacked object 1 held by the holding unit 10 based on the difference (Xa-X1) between the reference distance Xa in the X-axis direction when there is no positional deviation of the stacked object 1 and the measured distance X1 in the X-axis direction, and the difference (Ya-Y1) between the reference distance Ya in the Y-axis direction when there is no positional deviation of the stacked object 1 and the measured distance Y1 in the Y-axis direction. If the stacked object 1 shifts only in at least one of the X-axis and Y-axis directions when the holding unit 10 holds the stacked object 1, the positional deviation of the stacked object 1 held by the holding unit 10 can be detected by calculating the difference in distance in the X-axis direction (Xa-X1) and the difference in distance in the Y-axis direction (Ya-Y1).

[0035] When the transparent portions 12 are provided at the two corner positions of the holding portion 10 and the two transparent portions 12 each have an alignment mark 13, the device control unit 40 measures the 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 detects the positional deviation of the stacked objects 1 by calculating two distance differences (Xa-X1) in the X-axis direction and two distance differences (Ya-Y1) in the Y-axis direction. By using the two alignment marks 13 to calculate two distance differences (Xa-X1) and two distance differences (Ya-Y1), the positional deviation of the stacked objects 1 can be calculated more accurately. Furthermore, by calculating two distance differences (Xa-X1) and two distance differences (Ya-Y1), the tilt of the stacked objects 1 can also be detected. That is, it is possible to detect not only misalignment of the stacking object 1 along the X-axis direction and the Y-axis direction, but also misalignment in the rotation direction around the center of the stacking object 1. Therefore, it is preferable that the transparent portions 12 are provided at the two corner positions of the holding portion 10.

[0036] In order to confirm the position of the stacking object 1, a position confirmation mark 14 may be provided on the surface of the stacking object 1 that contacts the holding surface 10a of the holding unit 10, at a position that overlaps with the transparent portion 12 in a direction perpendicular to the holding surface 10a (see FIG. 4). In this case, the imaging unit 30 simultaneously captures an image of 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 positional deviation 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. The shape of the position confirmation mark 14 may be any shape.

[0037] As described above, the device control unit 40 corrects the relative positional deviation between the stacking object 1 held by the holding unit 10 and the stacking stage 20 based on the detected positional deviation. 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 difference in distance in the X-axis direction (Xa-X1) and the difference in distance in the Y-axis direction (Ya-Y1) each become zero. However, if the difference in distance in the X-axis direction (Xa-X1) and the difference in distance in the Y-axis direction (Ya-Y1) are both zero, there is no need to move the holding unit 10 holding the stacking object 1 or the stacking stage 20.

[0038] 5, the stacking stage 20 is configured to be movable in the X-axis direction, the Y-axis direction, and the θ direction, which is a rotation direction around the center of the stacking stage 20. The stacking stage 20 is, for example, a UVW stage that is movable in the X-axis direction, the Y-axis direction, and the θ direction. Based on the detected positional deviation, the device control unit 40 corrects the relative positional deviation between the stacking object 1 held by the holding unit 10 and the stacking stage 20 by moving the stacking stage 20 in at least one direction of the X-axis direction, the Y-axis direction, and the θ direction.

[0039] Furthermore, the device control unit 40 may move the holding unit 10 instead of the stacking stage 20. In this case, the device control unit 40 corrects the relative positional deviation between the stacking object 1 held by the holding unit 10 and the stacking stage 20 by moving 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 the rotation direction around the center of the holding unit 10, based on the detected positional deviation.

[0040] The device control unit 40 may move the holding unit 10 holding the stacking object 1 and the stacking stage 20 based on the detected positional deviation.

[0041] After correcting the positional deviation as described above, the device control unit 40 lowers the holding unit 10 and releases the holding unit 10 from suction of the stacking object 1. As a result, the stacking object 1 is stacked on the stacking stage 20.

[0042] (Layered System) Next, the configuration of a stacking system 200 including the stacking device 100 in the above-described embodiment will be described.

[0043] 6 is a plan view schematically showing the configuration of a stacking system 200 including the stacking device 100 in one embodiment. The stacking system 200 includes the stacking device 100, a plurality of supply mechanisms 210, and a movement mechanism 220. The holding unit 10 and stacking stage 20 of the stacking device 100 are included in the movement mechanism 220, as will be described later. Here, an example will be described in which the stacking object 1 is a sheet-shaped battery material. However, the stacking object 1 is not limited to a sheet-shaped battery material.

[0044] The plurality of supply mechanisms 210 supply the stacking objects 1 to each of the plurality of supply positions A1 to A4. One type of stacking object 1 is supplied to each of the plurality of supply positions A1 to A4. In this embodiment, the plurality of supply mechanisms 210 include four supply mechanisms: a first supply mechanism 210a, a second supply mechanism 210b, a third supply mechanism 210c, and a fourth supply mechanism 210d. However, the number of the plurality of supply mechanisms 210 is not limited to four.

[0045] The first supply mechanism 210a supplies the lamination object 1 to the first supply position A1. The lamination object 1 supplied by the first supply mechanism 210a is, for example, a resin film. The resin film is a sheet-like battery material that functions as a separator and is made of, for example, polyethylene. In this embodiment, the first supply mechanism 210a is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the first supply position A1.

[0046] The second supply mechanism 210b supplies the lamination object 1 to the second supply position A2. The lamination object 1 supplied by the second supply mechanism 210b is, for example, a first metal foil. The first metal foil is a sheet-like battery material that functions as one of the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the second supply mechanism 210b is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the second supply position A2.

[0047] The third supply mechanism 210c supplies the lamination object 1 to the third supply position A3. The lamination object 1 supplied by the third supply mechanism 210c is, for example, a resin film. The resin film is a sheet-like battery material that functions as a separator and is made of, for example, polyethylene. The resin film supplied by the third supply mechanism 210c may be the same as the resin film supplied by the first supply mechanism 210a. However, a resin film different from the resin film supplied by the first supply mechanism 210a may also be used. In this embodiment, the third supply mechanism 210c is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the third supply position A3.

[0048] The fourth supply mechanism 210d supplies the lamination object 1 to the fourth supply position A4. The lamination object 1 supplied by the fourth supply mechanism 210d is, for example, a second metal foil. The second metal foil is a sheet-like battery material that functions as the other of the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the fourth supply mechanism 210d is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the fourth supply position A4.

[0049] The first supply mechanism 210a, the second supply mechanism 210b, the third supply mechanism 210c, and the fourth supply mechanism 210d are not limited to belt conveyors, but may have any structure that can transport and supply the stacking object 1.

[0050] Furthermore, the supply mechanism 210 may be configured to transport a long stacking object 1 instead of transporting the individualized stacking object 1. In this case, the long stacking object 1 may be cut at the supply positions A1 to A4 to be individualized. In this embodiment, the stacking object 1 has a rectangular shape, but may have a shape other than a rectangular shape.

[0051] The movement mechanism 220 includes a linear motor stator 221 having a predetermined running track, and a linear motor mover 222 that is movable between a plurality of supply positions A1 to A4 along the running track. In this embodiment, the running track of the stator 221 has an elliptical ring shape in a plan view, as shown in Fig. 6. However, the shape of the running track in a plan view is not limited to an elliptical ring shape.

[0052] In this embodiment, the movers 222 include a first mover 222a, a second mover 222b, a third mover 222c, a fourth mover 222d, a fifth mover 222e, a sixth mover 222f, a seventh mover 222g, and an eighth mover 222h. Each of the movers 222a to 222h can move independently. Since the movement mechanism 220 includes a plurality of movers 222, the stacking object 1 can be stacked efficiently in a short time.

[0053] FIG. 7 is a diagram schematically illustrating the configuration of the mover 222 of the movement mechanism 220 when viewed in a direction along the travel path of the stator 221. As shown in FIG. 7, the holder 10 and stacking stage 20 of the stacking device 100 are included in the mover 222. Furthermore, among the components of the device control unit 40, for example, a drive mechanism for driving at least one of the holder 10 and the stacking stage 20 is included in the mover 222, and a part that calculates a correction amount for driving the drive mechanism and issues drive instructions may be located in a fixed location. In FIG. 7, the X-axis direction is the direction in which the supply mechanism 210 transports the stacking object 1, and the Y-axis direction is the direction in which the mover 222 moves along the travel path. Furthermore, the Z-axis direction is the vertical direction.

[0054] The holding unit 10 holds the stacking object 1 transported by the supply mechanism 210. The holding unit 10 is movable in the Z-axis direction, and approaches the stacking object 1 from above by descending, thereby holding the stacking object 1.

[0055] The device control unit 40 lowers the holding unit 10 holding the stacking object 1 toward the stacking stage 20. At this time, it is preferable to adjust the amount of lowering of the holding unit 10 depending on the number of stacking objects 1 stacked on the stacking stage 20. However, the device control unit 40 may lower the holding unit 10 by a fixed amount, and a system control unit (described later) may move the stacking stage 20 in the Z-axis direction depending on the number of stacking objects 1 stacked on the stacking stage 20. In this case, the amount of lowering of the holding unit 10 by the device control unit 40 can be kept constant.

[0056] In this embodiment, as will be described later, while the mover 222 moves along the travel path of the stator 221, the holder 10 descends to release the adsorption of the stacking object 1 and stack the stacking object 1 on the stacking stage 20. However, when the stacking object 1 is stacked on the stacking stage 20, "stacking the stacking object 1 on the stacking stage 20" means stacking the stacking object 1 on top of the stacking object 1 that is stacked on the stacking stage 20.

[0057] In this embodiment, as shown in Fig. 7, mover 222 is attached to two guide rails 223 of stator 221 that form a travel track, and moves along guide rails 223. As shown in Fig. 7, guide rails 223 of stator 221 are provided on the sides of mover 222, rather than vertically below. In a structure in which guide rails 223 are provided vertically below mover 222, control must be performed taking into account the inner wheel difference between the two guide rails 223, but in a structure in which guide rails 223 are provided on the sides, there is no need to consider the inner wheel difference, and control is simplified.

[0058] As described above, in this embodiment, there are four supply positions A1 to A4 for the stacking objects 1 in order to supply four types of stacking objects 1. The stacking device 100 has four imaging units 30 provided corresponding to the four supply positions A1 to A4. Specifically, a first imaging unit 30a is provided corresponding to the first supply position A1, a second imaging unit 30b is provided corresponding to the second supply position A2, a third imaging unit 30c is provided corresponding to the third supply position A3, and a fourth imaging unit 30d is provided corresponding to the fourth supply position A4. While FIG. 6 shows an example in which one imaging unit 30 is provided corresponding to one supply position, as described above, it is preferable to provide two imaging units 30 corresponding to one supply position.

[0059] The imaging unit 30 may be provided in a fixed state at a position corresponding to the supply positions A1 to A4, or may be included in the movable element 222 and configured to move together with the movement of the movable element 222.

[0060] The following describes a method for sequentially stacking four types of stacking objects 1 using a stacking system 200 including a stacking device 100 according to one embodiment. Here, the operation of the first mover 222a of the eight movers 222 stacking the stacking objects 1 will be described, but the operations of the other movers 222b to 222h stacking the stacking objects 1 are similar. That is, if the time it takes for the first movable element 222a to complete one revolution around the running path of the stator 221 is T, then the eighth movable element 222h operates with a delay of T / 8, the seventh movable element 222g with a delay of (2T) / 8, the sixth movable element 222f with a delay of (3T) / 8, the fifth movable element 222e with a delay of (4T) / 8, the fourth movable element 222d with a delay of (5T) / 8, the third movable element 222c with a delay of (6T) / 8, and the second movable element 222b with a delay of (7T) / 8, and they all operate in the same manner as the first movable element 222a.

[0061] Here, the stacking system 200 will be described as being equipped with a system control unit that controls the operations of the plurality of supply mechanisms 210 and the plurality of movement mechanisms 220.

[0062] (S1) The system control unit controls the first supply mechanism 210a to supply the resin film, which is the stacking object 1, to the first supply position A1, and stops the first movable element 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 capture an image of 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.

[0063] When the first movable element 222a is stopped at the first supply position A1, the third movable element 222c is stopped at the second supply position A2, the fifth movable element 222e is stopped at the third supply position A3, and the seventh movable element 222g is stopped at the fourth supply position A4. As will be described later, the third movable element 222c, the fifth movable element 222e, and the seventh movable element 222g, like the first movable element 222a, each hold the stacking object 1 supplied at each of the supply positions A1 to A4 in the holder 10 and stack the object on the stacking stage 20 while moving to and stopping at the next supply position A1 to A4.

[0064] Furthermore, when the first movable element 222a is stopped at the first supply position A1, the second movable element 222b is located between the first supply position A1 and the second supply position A2, the fourth movable element 222d is located between the second supply position A2 and the third supply position A3, the sixth movable element 222f is located between the third supply position A3 and the fourth supply position A4, and the eighth movable element 222h is located between the fourth supply position A4 and the first supply position A1. As will be described later, the second movable element 222b, the fourth movable element 222d, the sixth movable element 222f, and the eighth movable element 222h each perform position correction of the object to be stacked 1 relative to the stacking stage 20 while moving to and stopping at the next supply position A1 to A4.

[0065] (S2) Next, the system control unit moves the first mover 222a from the first supply position A1 to the second supply position A2 along the travel trajectory. While the first mover 222a moves from the first supply position A1 to the second supply position A2 and stops, the device control unit 40 corrects the relative position of the stacking object 1 held by the holder 10 with respect to the stacking stage 20. Specifically, based on the image of the stacking object 1 captured by the first imaging unit 30a, the device control unit 40 moves at least one of the stacking stage 20 and the holder 10 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the relative position of the stacking object 1 held by the holder 10 with respect to the stacking stage 20.

[0066] Note that some of the processing performed by the device control unit 40 may be performed by the image processing unit of the first imaging unit 30a and the system control unit. For example, the image processing unit detects a positional deviation of the stacked 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 positional deviation based on the detected positional deviation of the stacked object 1. The device control unit 40 moves at least one of the holding unit 10 and the stacking stage 20 based on the correction amount calculated by the system control unit. In such a configuration, the image processing unit and the system control unit of the first imaging unit 30a are also included in the configuration of the device control unit 40. The same applies to the following description.

[0067] Thereafter, the device control unit 40 lowers the holder 10 and then releases the holder 10 from suction of the stacking object 1. As a result, the stacking object 1 is stacked on the stacking stage 20.

[0068] In addition, the system control unit not only moves the first movable element 222a from the first supply position A1 to the second supply position A2, but also moves the third movable element 222c from the second supply position A2 to the third supply position A3, moves the fifth movable element 222e from the third supply position A3 to the fourth supply position A4, and moves the seventh movable element 222g from the fourth supply position A4 to the first supply position A1.

[0069] (S3) Next, the system control unit controls the second supply mechanism 210b to supply the first metal foil, which is the stacking object 1, to the second supply position A2, and stops the first movable element 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 capture an image of 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.

[0070] When the first movable element 222a is stopped at the second supply position A2, the third movable element 222c is stopped at the third supply position A3, the fifth movable element 222e is stopped at the fourth supply position A4, and the seventh movable element 222g is stopped at the first supply position A1. The second movable element 222b is located between the second supply position A2 and the third supply position A3, the fourth movable element 222d is located between the third supply position A3 and the fourth supply position A4, the sixth movable element 222f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable element 222h is located between the first supply position A1 and the second supply position A2.

[0071] (S4) Next, the system control unit moves the first mover 222a along the travel path from the second supply position A2 to the third supply position A3. While the first mover 222a moves from the second supply position A2 to the third supply position A3 and stops, the device control unit 40 corrects the position of the stacking object 1 held by the holder 10 relative to the stacking stage 20. Specifically, based on the image of the stacking object 1 captured by the second imaging unit 30b, the device control unit 40 moves at least one of the stacking stage 20 and the holder 10 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the position of the stacking object 1 held by the holder 10 relative to the stacking stage 20. After the position correction, the operation of stacking the stacking object 1 on the stacking stage 20 is the same as the operation of stacking the stacking object 1 supplied to the first supply position A1.

[0072] In addition, the system control unit not only moves the first movable element 222a from the second supply position A2 to the third supply position A3, but also moves the third movable element 222c from the third supply position A3 to the fourth supply position A4, moves the fifth movable element 222e from the fourth supply position A4 to the first supply position A1, and moves the seventh movable element 222g from the first supply position A1 to the second supply position A2.

[0073] (S5) Next, the system control unit controls the third supply mechanism 210c to supply the resin film, which is the stacking object 1, to the third supply position A3, and stops the first movable element 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 at the third supply position A3. The system control unit controls the third imaging unit 30c to capture an image of 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.

[0074] When the first movable element 222a is stopped at the third supply position A3, the third movable element 222c is stopped at the fourth supply position A4, the fifth movable element 222e is stopped at the first supply position A1, and the seventh movable element 222g is stopped at the second supply position A2. The second movable element 222b is located between the third supply position A3 and the fourth supply position A4, the fourth movable element 222d is located between the fourth supply position A4 and the first supply position A1, the sixth movable element 222f is located between the first supply position A1 and the second supply position A2, and the eighth movable element 222h is located between the second supply position A2 and the third supply position A3.

[0075] (S6) Next, the system control unit moves the first mover 222a along the travel path from the third supply position A3 to the fourth supply position A4. While the first mover 222a moves from the third supply position A3 to the fourth supply position A4 and stops, the device control unit 40 corrects the position of the stacking object 1 held by the holder 10 relative to the stacking stage 20. Specifically, based on the image of the stacking object 1 captured by the third imaging unit 30c, the device control unit 40 moves at least one of the stacking stage 20 and the holder 10 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the position of the stacking object 1 held by the holder 10 relative to the stacking stage 20. After the position correction, the operation of stacking the stacking object 1 on the stacking stage 20 is the same as the operation of stacking the stacking object 1 supplied to the first supply position A1.

[0076] In addition, the system control unit not only moves the first movable element 222a from the third supply position A3 to the fourth supply position A4, but also moves the third movable element 222c from the fourth supply position A4 to the first supply position A1, moves the fifth movable element 222e from the first supply position A1 to the second supply position A2, and moves the seventh movable element 222g from the second supply position A2 to the third supply position A3.

[0077] (S7) Next, the system control unit controls the fourth supply mechanism 210d to supply the second metal foil, which is the stacking object 1, to the fourth supply position A4, and stops the first movable element 222a at the fourth supply position A4. The device control unit 40 lowers the holder 10 to hold the stacking object 1 at the fourth supply position A4. The system control unit controls the fourth imaging unit 30d to capture an image of at least a portion of the stacking object 1 held by the holder 10 and the alignment mark 13 of the holder 10.

[0078] When the first movable element 222a is stopped at the fourth supply position A4, the third movable element 222c is stopped at the first supply position A1, the fifth movable element 222e is stopped at the second supply position A2, and the seventh movable element 222g is stopped at the third supply position A3. The second movable element 222b is located between the fourth supply position A4 and the first supply position A1, the fourth movable element 222d is located between the first supply position A1 and the second supply position A2, the sixth movable element 222f is located between the second supply position A2 and the third supply position A3, and the eighth movable element 222h is located between the third supply position A3 and the fourth supply position A4.

[0079] (S8) Next, the system control unit moves the first mover 222a along the travel path from the fourth supply position A4 to the first supply position A1. While the first mover 222a moves from the fourth supply position A4 to the first supply position A1 and stops, the device control unit 40 corrects the position of the stacking object 1 held by the holder 10 relative to the stacking stage 20. Specifically, based on the image of the stacking object 1 captured by the fourth imaging unit 30d, the device control unit 40 moves at least one of the stacking stage 20 and the holder 10 in at least one of the X-axis direction, the Y-axis direction, and the θ direction, thereby correcting the position of the stacking object 1 held by the holder 10 relative to the stacking stage 20. After the position correction, the operation of stacking the stacking object 1 on the stacking stage 20 is the same as the operation of stacking the stacking object 1 supplied to the first supply position A1.

[0080] In addition, the system control unit not only moves the first movable element 222a from the fourth supply position A4 to the first supply position A1, but also moves the third movable element 222c from the first supply position A1 to the second supply position A2, moves the fifth movable element 222e from the second supply position A2 to the third supply position A3, and moves the seventh movable element 222g from the third supply position A3 to the fourth supply position A4.

[0081] The above-described steps (S1) to (S8) produce a set of semi-finished products in which four types of lamination objects 1, namely, a resin film, a first metal foil, a resin film, and a second metal foil, are laminated in this order. Thereafter, steps (S1) to (S8) are repeated to produce a predetermined number of laminated products, i.e., a laminate in which multiple positive electrodes and negative electrodes are alternately laminated with a resin film interposed therebetween that functions as a separator. The laminate is used, for example, as a constituent material for a battery pack.

[0082] 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.

[0083] For example, the laminated object 1 is not limited to the sheet-like battery material described above. For example, a multilayer substrate can be fabricated by laminating multiple types of laminated objects 1, each of which is a sheet-like conductive layer and insulating layer. In this case, the conductive layer can be made of, for example, copper, silver, a copper-containing alloy, a silver-containing alloy, or Sn-Ag solder. The insulating layer can be made of, for example, a thermoplastic resin such as liquid crystal polymer, polyether ether ketone, polyetherimide, or polyimide, or a thermosetting resin such as epoxy resin or unsaturated polyester.

[0084] In the above-described embodiment, the holding unit 10 is configured to approach the supply mechanism 210 by descending to hold the stacked object 1, but the supply mechanism 210 may also be configured to approach the holding unit 10 by rising.

[0085] The lamination device and lamination system in this application are as follows. <1> a holding unit for holding the stacked object, the holding unit having a transparent portion that can transmit imaging light in a direction perpendicular to a holding surface that contacts the stacked object, the transparent portion having an alignment mark; a stacking stage for stacking the stacking objects held by the holding unit; an imaging unit that is arranged on a side opposite to the holding surface with respect to the holding unit and is 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; an apparatus control unit that detects a positional deviation of the stacking object held by the holding unit based on the image captured by the imaging unit, and corrects a relative positional deviation between the stacking object held by the holding unit and the stacking stage based on the detected positional deviation; A stacking device comprising: <2> The alignment mark is provided on the holding surface of the transparent portion. <1> The lamination device according to claim 1. <3> The transparent portion is provided at a corner of the holding portion. <1> or <2> The lamination device according to claim 1. <4> The transparent portions are provided at the two corners of the holding portion. <1> or <2> The lamination device according to claim 1. <5> The imaging unit is characterized in that two units are provided corresponding to the two transparent units. <4> The lamination device according to claim 1. <6> The holding surface of the holding part is provided with a plurality of suction holes. <1> ~ <5> 10. The lamination device according to claim 9, wherein <7> . <1> ~ <6> the stacking device according to any one of the above items; a plurality of supply mechanisms capable of supplying the stacking objects to a plurality of supply positions, respectively; a moving mechanism including a stator of a linear motor having a predetermined running track and a movable element of the linear motor that is movable between the plurality of supply positions along the running track; Equipped with A stacking system, wherein the holding portion and the stacking stage of the stacking device are included in the mover. <8> The moving mechanism is characterized by having a plurality of the moving elements. <7> The laminated system according to claim 1. [Explanation of symbols]

[0086] 1. Layered object 1a Corner of stacked object 10 Holding part 10a Holding surface 11 Suction hole 12 Transparent part 13 Alignment marks 14 Position confirmation mark 20 Stacking Stage 30 Imaging unit 40 Device control section 100 stacking device 200 Lamination System 210 Supply mechanism 220 Moving mechanism 221 Stator 222 Mover 223 Guide Rail

Claims

1. a holding unit that holds the stacking object, the holding unit having a transparent portion that can transmit imaging light in a direction perpendicular to a holding surface that contacts the stacking object, the holding unit having an alignment mark provided on the transparent portion; a stacking stage for stacking the stacking objects held by the holding unit; an imaging unit that is arranged on a side opposite to the holding surface with respect to the holding unit and is 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; an apparatus control unit that detects a positional deviation of the stacking object held by the holding unit based on an image captured by the imaging unit, and corrects a relative positional deviation between the stacking object held by the holding unit and the stacking stage based on the detected positional deviation, the transparent portions are provided at two corner positions of the holding portion, Two imaging units are provided corresponding to the two transparent units. A stacking device characterized by:

2. The stacking device according to claim 1 , wherein the alignment mark is provided on the holding surface of the transparent portion.

3. The stacking device according to claim 1 , wherein the holding surface of the holding portion is provided with a plurality of suction holes.

4. The stacking device according to claim 1; a plurality of supply mechanisms capable of supplying the stacking objects to a plurality of supply positions, respectively; a moving mechanism including a stator of a linear motor having a predetermined running track and a movable element of the linear motor that is movable between the plurality of supply positions along the running track; A stacking system, wherein the holding portion and the stacking stage of the stacking device are included in the mover.

5. The stacking system according to claim 4 , wherein the moving mechanism includes a plurality of the movers.

Images