Energy storage module manufacturing device and energy storage module manufacturing method

Abstract

A device 100 for manufacturing power storage modules is provided with: a conveyance device 107 for conveying a workpiece W2 from a spacer welding device 103 (first device) to a lamination device 105 (second device); a sensor 173; and, an alignment mechanism 174 (adjustment mechanism). The conveyance device 107 includes: a hand device 171 for holding the workpiece W2; and, a movement unit 172 for conveying the workpiece W2 from the spacer welding device 103 to a lamination position P on the lamination device 105. The sensor 173 detects the workpiece W2 held by the hand device 171. The alignment mechanism 174 adjusts the position of the workpiece W2 relative to the lamination device 105. The hand device 171 places, on the lamination device 105, the workpiece W2 the position of which relative to the lamination device 105 has been adjusted by the alignment mechanism 174.

Description

[Technical Field]

[0001] The present disclosure relates to an energy storage module manufacturing apparatus and an energy storage module manufacturing method. [Background technology]

[0002] Patent Document 1 describes an electrode lamination device that forms a structure by stacking positive and negative electrodes sandwiched between separators. This electrode lamination device includes a conveyor that transports workpieces, such as positive electrodes, negative electrodes, and separators, which are components of the structure, in the longitudinal direction, and a hand device that transfers each workpiece one by one to a lamination section and stacks them. The electrode lamination device also includes an imaging camera that images each workpiece at a position longitudinally upstream of the position where each workpiece is transferred, and a control device that controls the operation of the hand device based on image data acquired by the imaging. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-18776 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned Patent Document 1 describes that when a workpiece is picked up by a hand device, the transfer position of the hand device may be corrected by driving an alignment stage based on image data obtained by capturing an image of the workpiece with an imaging camera on a conveyor.The above-mentioned Patent Document 1 also states that the workpieces can be accurately stacked in the stacking section by correcting the orientation of the workpieces during transfer by the hand device.

[0005] However, even if the transfer position of the hand device is corrected or the orientation of the workpiece is corrected while it is being transferred using the hand device based on image data of the workpiece on the conveyor as described above, there may be an error in the stopping position of the suction hand holding the workpiece after it is transferred to the stacking section, which could result in a shift in the relative position of the workpiece to the stacking section.

[0006] An object of the present disclosure is to provide an energy storage module manufacturing apparatus and an energy storage module manufacturing method that can suppress misalignment of workpieces at stacking positions. [Means for solving the problem]

[0007] The energy storage module manufacturing apparatus according to the present disclosure includes a transport device that transports a workpiece, which is a component of an energy storage module, from a first device to a second device that stacks multiple workpieces, a sensor that detects the workpiece, and an adjustment mechanism that adjusts the relative position of the workpiece. The transport device includes a hand unit that picks up and holds the workpiece, and a moving unit that transports the workpiece from the first device to a stacking position on the second device by moving the hand unit holding the workpiece from the first device toward the second device. The sensor is provided on the second device and detects the workpiece that has been transported to the stacking position and is held by the hand unit. The adjustment mechanism adjusts the relative position of the workpiece held by the hand unit to the second device based on the detection result of the sensor. The hand unit places the workpiece, whose relative position to the second device has been adjusted by the adjustment mechanism, on the second device.

[0008] In this energy storage module manufacturing apparatus, a workpiece, which is a component of an energy storage module, is transported from a first device to a stacking position on a second device that stacks multiple workpieces by moving a hand unit holding the workpiece. Meanwhile, in this energy storage module manufacturing apparatus, a sensor is used to detect the workpiece that has been transported to the stacking position and is being held by the hand unit. Then, based on the detection result of the sensor, the relative position of the workpiece held by the hand unit with respect to the second device is adjusted, and the workpiece whose relative position with respect to the second device has been adjusted by an adjustment mechanism is placed on the second device. This prevents the workpiece from shifting position at the stacking position.

[0009] In the energy storage module manufacturing apparatus according to the present disclosure, the moving unit may include a belt driven along a conveying direction from the first device to the second device, and the hand unit may be moved from the first device to the second device by driving the belt. In this case, the hand unit can be moved from the first device to the second device by driving the belt. By using a belt to drive the hand unit in this way, a drive unit is not provided in the hand unit, and therefore the hand unit can be made lighter and moved at high speed.

[0010] In the energy storage module manufacturing apparatus according to the present disclosure, the adjustment mechanism may adjust the relative position of the workpiece by adjusting the position of the hand unit relative to the second apparatus. If the adjustment mechanism adjusts the position of the second apparatus relative to the hand apparatus, the adjustment mechanism may need to drive at least a portion of the second apparatus (for example, a stage on which the workpiece is actually placed) along with the multiple workpieces already stacked. This requires an adjustment mechanism capable of driving a heavy object, which may increase the size of the apparatus. In contrast, if the adjustment mechanism adjusts the position of the hand unit relative to the second apparatus, the adjustment mechanism only needs to drive relatively light objects, such as a single workpiece and the hand unit, thereby avoiding an increase in the size of the apparatus.

[0011] In the energy storage module manufacturing apparatus according to the present disclosure, the sensor may detect an edge of the workpiece, and the adjustment mechanism may adjust the relative position of the workpiece so that the edge of the workpiece detected by the sensor coincides with a reference position. In this case, by utilizing the edge of the workpiece detected by the sensor, it is possible to reliably suppress positional deviation of the workpiece in the stacking position.

[0012] In the energy storage module manufacturing apparatus according to the present disclosure, the hand unit may hold the workpiece and press it against the second device, and the sensor may detect the workpiece pressed against the second device. In this way, by detecting the workpiece whose warp has been straightened by being held by the hand unit and pressed against the second device, the relative position of the workpiece with respect to the second device can be detected more accurately.

[0013] Furthermore, the energy storage module manufacturing method according to the present disclosure includes a transporting step of transporting a workpiece, which is a component of the energy storage module, from a first device to a second device that stacks multiple workpieces, and the transporting step includes a first step of picking up and holding the workpiece, a second step of transporting the held workpiece from the first device to a stacking position on the second device after the first step, a third step of detecting the position of the workpiece that has been transported to the stacking position and held thereafter, a fourth step of adjusting the relative position of the workpiece with respect to the second device based on the detected position of the workpiece after the third step, and a fifth step of placing the workpiece, whose relative position with respect to the second device has been adjusted, on the second device after the fourth step.

[0014] In this energy storage module manufacturing method, a workpiece, which is a component of the energy storage module, is transported from a first device to a stacking position on a second device that stacks multiple workpieces by moving the workpiece while holding it. Meanwhile, in this energy storage module manufacturing method, the workpiece transported to the stacking position and held therein is detected. Then, based on the detection result, the relative position of the held workpiece with respect to the second device is adjusted, and the workpiece whose relative position with respect to the second device has been adjusted is placed on the second device. This prevents the workpiece from shifting position at the stacking position.

[0015] The method for manufacturing an electricity storage module according to the present disclosure may further include a step of pressing the held workpiece against the second device after the second step and before the third step, and the workpiece pressed against the second device may be detected in the third step. In this way, by detecting the workpiece whose warpage has been straightened by being held and pressed against the second device, the relative position of the workpiece with respect to the second device can be detected more accurately. [Effects of the Invention]

[0016] According to the present disclosure, it is possible to provide an energy storage module manufacturing apparatus and an energy storage module manufacturing method that are capable of suppressing misalignment of workpieces at stacking positions. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a schematic cross-sectional view showing an electricity storage module according to this embodiment. [Figure 2] FIG. 2 is a schematic cross-sectional view showing a state in which the electrode units and separator units shown in FIG. 1 are stacked. [Figure 3] FIG. 3 is a schematic plan view showing a part of the energy storage module manufacturing apparatus according to this embodiment. [Figure 4] FIG. 4 is a schematic side view showing a part of the energy storage module manufacturing apparatus shown in FIG. [Figure 5] FIG. 5 is a schematic diagram showing the separator unit held by the hand device and the detection range of the sensor. [Figure 6] FIG. 6 is a flowchart showing the operation of the manufacturing apparatus shown in FIG. [Figure 7] FIG. 7 is a schematic side view showing the operation of the manufacturing apparatus shown in FIG. [Figure 8] FIG. 8 is a schematic side view showing the operation of the manufacturing apparatus shown in FIG. [Figure 9] FIG. 9 is a schematic side view showing the operation of the manufacturing apparatus shown in FIG. [Figure 10]FIG. 10 is a schematic side view showing the operation of the manufacturing apparatus shown in FIG. [Figure 11] FIG. 11 is a schematic side view showing the operation of the manufacturing apparatus shown in FIG. [Figure 12] FIG. 12 is a schematic side view showing the operation of the manufacturing apparatus shown in FIG. [Figure 13] FIG. 13 is a schematic side view showing the operation of an energy storage module manufacturing apparatus according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0018] An embodiment of an energy storage module manufacturing apparatus and an energy storage module manufacturing method will be described below with reference to the drawings. Note that in the description of the drawings, identical or corresponding elements may be assigned the same reference numerals, and duplicated explanations may be omitted. Furthermore, each drawing may show an orthogonal coordinate system defined by an X-axis, a Y-axis, and a Z-axis.

[0019] FIG. 1 is a schematic cross-sectional view showing an energy storage module 1 according to this embodiment. The energy storage module 1 shown in FIG. 1 can be used as a battery for various vehicles such as a forklift, a hybrid vehicle, or an electric vehicle. The energy storage module 1 is a secondary battery such as a nickel-metal hydride secondary battery or a lithium-ion secondary battery. The energy storage module 1 may be an electric double layer capacitor or an all-solid-state battery. In this embodiment, the energy storage module 1 is illustrated as a lithium-ion secondary battery.

[0020] As shown in Fig. 1, the energy storage module 1 includes a laminate 10 and a sealing body 20. The laminate 10 includes a plurality of electrode units 12, one electrode unit 13, one electrode unit 14, and a plurality of separator units 15. The laminate 10 has, for example, a rectangular parallelepiped shape as a whole. The laminate 10 is configured by stacking the electrode units 12, 13, and 14 (hereinafter sometimes simply referred to as "electrode units") and the separator unit 15 along the Z-axis direction.

[0021] Each electrode unit 12 has a bipolar electrode 21 and a sealing member 22. The multiple electrode units 12 are stacked along the Z-axis direction so that the positive electrode active material layer 24 of one electrode unit 12 faces the negative electrode active material layer 25 of another electrode unit 12. That is, the Z-axis direction is the stacking direction of the electrode units 12 in the stack 10. The X-axis direction and the Y-axis direction are two directions that intersect (are perpendicular to) the stacking direction. Each bipolar electrode 21 has a current collector 23, a positive electrode active material layer 24, and a negative electrode active material layer 25.

[0022] The current collector 23 has, for example, a sheet shape and, for example, a rectangular shape when viewed in the Z-axis direction. The current collector 23 has one surface 23a facing one side in the Z-axis direction and another surface 23b facing the other side in the Z-axis direction. The current collector 23 is a chemically inactive electrical conductor that continues to pass current through the positive electrode active material layer 24 and the negative electrode active material layer 25 during discharge or charge of the lithium-ion secondary battery. The current collector 23 may be made of, for example, a metal material, a conductive resin material, or a conductive inorganic material. Examples of conductive resin materials include resins obtained by adding a conductive filler to a conductive polymer material or a non-conductive polymer material as needed. The current collector 23 may have multiple layers. In this case, each layer of the current collector 23 may contain the above-mentioned metal material or conductive resin material.

[0023] A coating layer may be formed on the surface of the current collector 23. The coating layer may be formed by a known method such as plating or spray coating. The current collector 23 may be, for example, in the form of a plate, foil (e.g., metal foil), film, or mesh. Examples of metal foils include aluminum foil, copper foil, nickel foil, titanium foil, and stainless steel foil. Examples of stainless steel foils include SUS304, SUS316, and SUS301 as specified in JIS G 4305:2015. Using stainless steel foil as the current collector 23 ensures the mechanical strength of the current collector 23. The current collector 23 may be an alloy foil of any of the above metals or a combination of multiple sheets of the above metal foils. When the current collector 23 is in the form of a foil, the thickness of the current collector 23 may be, for example, 1 μm to 100 μm.

[0024] The positive electrode active material layer 24 is provided on one surface 23a of the current collector 23. The positive electrode active material layer 24 has, for example, a rectangular shape when viewed from the Z-axis direction. The positive electrode active material layer 24 contains a positive electrode active material capable of absorbing and releasing charge carriers such as lithium ions. Examples of the positive electrode active material include lithium composite metal oxides having a stratified rock salt structure, metal oxides having a spinel structure, and polyanionic compounds. Any positive electrode active material may be used as long as it is usable in lithium ion secondary batteries. The positive electrode active material layer 24 may contain multiple positive electrode active materials. In this embodiment, the positive electrode active material layer 24 contains olivine-type lithium iron phosphate (LiFePO4) as a composite oxide.

[0025] The negative electrode active material layer 25 is provided on the other surface 23b of the current collector 23. The negative electrode active material layer 25 has, for example, a rectangular shape when viewed from the Z-axis direction. The negative electrode active material layer 25 is slightly larger than the positive electrode active material layer 24 when viewed from the Z-axis direction. In other words, in a plan view when viewed from the Z-axis direction, the entire formation region of the positive electrode active material layer 24 is located within the formation region of the negative electrode active material layer 25. The bipolar electrodes 21 are stacked along the Z-axis direction so that the positive electrode active material layer 24 and the negative electrode active material layer 25 face each other.

[0026] The negative electrode active material layer 25 contains a negative electrode active material capable of absorbing and releasing charge carriers such as lithium ions. The negative electrode active material may be any of a simple substance, an alloy, or a compound. Examples of the negative electrode active material include Li, carbon, and metal compounds. The negative electrode active material may be an element or a compound thereof that can be alloyed with lithium. Examples of carbon include natural graphite, artificial graphite, hard carbon (non-graphitizable carbon), and soft carbon (easily graphitizable carbon). Examples of artificial graphite include highly oriented graphite and mesocarbon microbeads. Examples of elements that can be alloyed with lithium include silicon and tin. In this embodiment, the negative electrode active material layer 25 contains graphite as a carbon-based material.

[0027] The sealing member 22 of the electrode unit 12 is bonded to one surface 23a and the other surface 23b of the current collector 23 at the peripheral portion of the current collector 23 in the bipolar electrode 21. It is sufficient that the sealing member 22 is bonded to at least one of the one surface 23a and the other surface 23b of the current collector 23. The sealing member 22 has a frame shape surrounding the active material layer when viewed in the thickness direction of the current collector 23. When viewed in the Z-axis direction, the outer edge of the sealing member 22 is located outside the outer edge of the current collector 23, and the inner edge of the sealing member 22 is located inside the outer edge of the current collector 23.

[0028] The electrode unit 13 has a negative electrode terminal electrode 31 and a sealing member 22. The negative electrode terminal electrode 31 has a current collector 23 and a negative electrode active material layer 25. The negative electrode terminal electrode 31 does not have a positive electrode active material layer 24. In other words, no active material layer is provided on one surface 23a of the current collector 23 of the negative electrode terminal electrode 31. One surface 23a of the current collector 23 of the negative electrode terminal electrode 31 is exposed. The electrode unit 13 is disposed at one end in the Z-axis direction of the laminate 10. The electrode unit 13 is stacked on the electrode unit 12 such that the negative electrode active material layer 25 of the electrode unit 12 faces the positive electrode active material layer 24 of the electrode unit 12.

[0029] The sealing member 22 of the electrode unit 13 is bonded to one surface 23a and the other surface 23b of the current collector 23 at the peripheral portion of the current collector 23 in the negative terminal electrode 31. The sealing member 22 only needs to be bonded to at least one of the one surface 23a and the other surface 23b of the current collector 23. The sealing member 22 has a frame shape surrounding the active material layer when viewed in the thickness direction of the current collector 23. When viewed in the Z-axis direction, the outer edge of the sealing member 22 is located outside the outer edge of the current collector 23, and the inner edge of the sealing member 22 is located inside the outer edge of the current collector 23.

[0030] The electrode unit 14 has a positive terminal electrode 41 and a sealing member 22. The positive terminal electrode 41 has a current collector 23 and a positive electrode active material layer 24. The positive terminal electrode 41 does not have a negative electrode active material layer 25. In other words, no active material layer is provided on the other surface 23b of the current collector 23 of the positive terminal electrode 41. The other surface 23b of the current collector 23 of the positive terminal electrode 41 is exposed. The electrode unit 14 is disposed at the other end of the laminate 10 in the Z-axis direction. The electrode unit 14 is stacked on the electrode unit 12 such that the positive electrode active material layer 24 of the electrode unit 14 faces the negative electrode active material layer 25 of the electrode unit 12.

[0031] The sealing member 22 of the electrode unit 14 is bonded to one surface 23a and the other surface 23b of the current collector 23 at the peripheral portion of the current collector 23 in the positive terminal electrode 41. It is sufficient that the sealing member 22 is bonded to at least one of the one surface 23a and the other surface 23b of the current collector 23. The sealing member 22 has a frame shape surrounding the active material layer when viewed in the thickness direction of the current collector 23. When viewed in the Z-axis direction, the outer edge of the sealing member 22 is located outside the outer edge of the current collector 23, and the inner edge of the sealing member 22 is located inside the outer edge of the current collector 23.

[0032] Each of the positive electrode active material layer 24 and the negative electrode active material layer 25 (hereinafter simply referred to as "active material layer") may further contain, as necessary, a conductive additive for improving electrical conductivity, a binder, an electrolyte (polymer matrix, ion-conductive polymer, electrolyte solution, etc.), an electrolyte supporting salt (lithium salt) for improving ionic conductivity, etc. The conductive additive is added to improve the conductivity of each of the bipolar electrodes 21, the negative electrode terminal electrode 31, and the positive electrode terminal electrode 41. Examples of the conductive additive include acetylene black, carbon black, and graphite.

[0033] The components contained in the active material layer, the blending ratio of the components, and the thickness of the active material layer are not particularly limited, and conventionally known knowledge about lithium-ion secondary batteries can be referred to as appropriate. The thickness of the active material layer is, for example, 2 to 150 μm. The active material layer may be formed on the surface of the current collector 23 by a known method such as roll coating. A heat-resistant layer may be provided on the surface (one or both sides) of the current collector 23 or on the surface of the active material layer to improve the thermal stability of each bipolar electrode 21, negative electrode terminal electrode 31, and positive electrode terminal electrode 41. The heat-resistant layer contains, for example, inorganic particles and a binder, and may also contain additives such as a thickener.

[0034] Examples of binders include fluorine-containing resins such as polyvinylidene fluoride, polytetrafluoroethylene, and fluororubber; thermoplastic resins such as polypropylene and polyethylene; imide resins such as polyimide and polyamideimide; alkoxysilyl group-containing resins; acrylic resins such as acrylic acid and methacrylic acid; styrene-butadiene rubber (SBR); carboxymethyl cellulose; alginates such as sodium alginate and ammonium alginate; water-soluble cellulose ester crosslinked bodies; and starch-acrylic acid graft polymers. These binders can be used alone or in combination. Examples of solvents that can be used include water and N-methyl-2-pyrrolidone (NMP).

[0035] The separator unit 15 includes a separator 51 and a spacer 52. The separator unit 15 is stacked between the electrode units 12 that are stacked one on top of the other. The separator unit 15 is also stacked between the electrode unit 12 and the electrode unit 13. The separator unit 15 is also stacked between the electrode unit 12 and the electrode unit 14.

[0036] The separators 51 are disposed between adjacent bipolar electrodes 21, between the negative electrode terminal electrode 31 and the bipolar electrode 21, and between the positive electrode terminal electrode 41 and the bipolar electrode 21. An edge of the separator 51 is disposed between one of adjacent sealing members 22 and a spacer 52. The separator 51 is interposed between the positive electrode active material layer 24 and the negative electrode active material layer 25. By isolating the positive electrode active material layer 24 and the negative electrode active material layer 25, the separator 51 prevents short circuits due to contact between adjacent electrodes while allowing charge carriers such as lithium ions to pass through.

[0037] The separator 51 may be, for example, a porous sheet or nonwoven fabric containing a polymer that absorbs and retains an electrolyte. Examples of materials for the separator 51 include polypropylene, polyethylene, polyolefin, and polyester. The separator 51 may have a single-layer structure or a multilayer structure. The multilayer structure may include, for example, a ceramic layer as an adhesive layer or a heat-resistant layer. The separator 51 may be impregnated with an electrolyte. The separator 51 may be composed of an electrolyte such as a polymer electrolyte or an inorganic electrolyte. Examples of the electrolyte impregnated in the separator 51 include a liquid electrolyte (electrolytic solution) containing a nonaqueous solvent and an electrolyte salt dissolved in the nonaqueous solvent, and a polymer gel electrolyte containing an electrolyte retained in a polymer matrix.

[0038] When the separator 51 is impregnated with an electrolytic solution, known lithium salts such as LiClO4, LiAsF6, LiPF6, LiBF4, LiCF3SO3, LiN(FSO2)2, and LiN(CF3SO2)2 may be used as the electrolyte salt. Furthermore, known solvents such as cyclic carbonates, cyclic esters, chain carbonates, chain esters, and ethers may be used as the nonaqueous solvent. Two or more of these known solvent materials may be used in combination.

[0039] The spacers 52 have a frame shape surrounding the active material layer when viewed in the thickness direction (Z-axis direction) of the current collector 23. The spacers 52 are disposed between adjacent sealing members 22. The outer edges of each sealing member 22 and each spacer 52 coincide or approximately coincide with each other when viewed in the Z-axis direction. The inner edges of each sealing member 22 coincide or approximately coincide with each other when viewed in the Z-axis direction. The inner edges of each spacer 52 coincide or approximately coincide with each other when viewed in the Z-axis direction. The inner edges of each spacer 52 are located outside the inner edges of each sealing member 22 when viewed in the Z-axis direction. The outer edges of each spacer 52 are located outside the outer edges of the separator 51 when viewed in the Z-axis direction.

[0040] As will be described later, in the manufacturing process of the energy storage module 1, after the step of forming the stack 10, the sealing members 22 and the spacers 52 are integrated to form the sealing body 20. As an example, the outer edges of the sealing members 22 and the spacers 52 located outside the outer edges of the current collectors 23 are melted. As a result, the outer edges of the sealing members 22 and the spacers 52 are welded to each other and integrated. The sealing members 22, the spacers 52, and the sealing body 20 prevent short circuits between the bipolar electrodes 21, the negative terminal electrode 31, and the positive terminal electrode 41 and seal the electrolyte disposed in the storage space S. Therefore, the sealing members 22 and the spacers 52 contain an insulating material. Examples of materials for the sealing members 22 and the spacers 52 include various resin materials, such as polypropylene, polyethylene, polystyrene, ABS resin, acrylonitrile-styrene resin, and modified resins of these resins.

[0041] In the example of FIG. 1 , boundaries are illustrated by solid lines between the sealing member 22 and the spacer 52 adjacent to the sealing member 22, and between the sealing body 20 and the end faces of the sealing member 22 and the spacer 52 opposite the accommodation space S. However, as described above, each sealing member 22 and each spacer 52 is at least partially welded to each other. Furthermore, the sealing body 20 is formed by welding the outer edges of the sealing member 22 and the spacer 52 to each other. Therefore, in reality, there may be at least some locations where the boundaries between the sealing members 22, the spacers 52, and the sealing body 20 are not clearly visible as shown in the figure.

[0042] As described above, the energy storage module 1 according to this embodiment can be used in batteries for various vehicles. Therefore, large components (electrode units 12, 13, 14 and separator unit 15) can be used for the energy storage module 1. For example, the length of each component in the X-axis direction is 1 m or more, and the length of each component in the Y-axis direction is 1 m or more.

[0043] Next, an energy storage module manufacturing apparatus and an energy storage module manufacturing method for manufacturing the energy storage module 1 configured as described above will be described. FIG. 2 is a schematic cross-sectional view showing a state in which the electrode units 12 and separator units 15 shown in FIG. 1 are stacked. As shown in FIG. 2, in the energy storage module manufacturing apparatus and energy storage module manufacturing method according to this embodiment, first, the electrode units and separator units 15 are alternately stacked to form a stacked body 10. More specifically, first, an electrode unit 13 (see FIG. 1) including a negative terminal electrode 31 is placed on a stacking pallet 105a (described later), and the separator unit 15 is stacked on the electrode unit 13. Next, a plurality of electrode units 12 and a plurality of separator units 15 are alternately stacked on the electrode unit 13 and the separator unit 15. Furthermore, the separator unit 15 is stacked on the uppermost electrode unit 12, and an electrode unit 14 (see FIG. 1) including a positive terminal electrode 41 is stacked on the separator unit 15. This forms the stacked body 10 shown in FIG. 1.

[0044] Next, the configuration of the power storage module manufacturing apparatus 100 according to this embodiment will be described.

[0045] Fig. 3 is a schematic plan view showing a portion of an energy storage module manufacturing apparatus 100 according to this embodiment. Note that in the following drawings, for convenience, each component part of the energy storage module 1 (stacked body 10, electrode unit, separator 51, spacer 52) is hatched. As shown in Fig. 3, the energy storage module manufacturing apparatus 100 includes a separator supply device 102, a spacer welding device 103 (first device), an electrode supply device 104, a stacking device 105 (second device), a conveying device 107, a sensor 173, and an alignment mechanism (adjustment mechanism) 174.

[0046] The separator supply device 102 holds a plurality of separators 51, which are components of the power storage module 1, and supplies one separator 51 to a pickup position R1 set on the separator supply device 102 at a predetermined timing.

[0047] The spacer welding device 103 holds a plurality of spacers 52, which are components of the energy storage module 1. The spacer welding device 103 supplies one spacer 52 to a pickup position R2 set on the spacer welding device 103 at a predetermined timing. The spacer welding device 103 welds the spacer 52 to the separator 51 at the pickup position R2 using a welding unit (not shown). That is, the spacer welding device 103 welds the spacer 52 to the separator 51 to form a separator unit 15. As a result, the spacer welding device 103 holds the separator unit 15 at the pickup position R2. Note that the separator 51 is transported from the separator supply device 102 to the spacer welding device 103 by a transport device 107 and is subjected to welding, as will be described later.

[0048] The electrode supply device 104 holds a plurality of electrode units which are components of the power storage module 1. The electrode supply device 104 supplies one electrode unit to a stacking position P set on the stacking device 105 at a predetermined timing.

[0049] The stacking device 105 is a device for stacking electrode units and separator units 15 on one another to form the stack 10. The stacking device 105 has a plurality of stacking pallets 105a. The stacking device 105 supplies one stacking pallet 105a to a stacking position P at a predetermined timing. The electrode units and separator units 15 are stacked on the stacking pallet 105a supplied to the stacking position P. When the stack 10 is formed on the stacking pallet 105a, the stacking device 105 carries out the stack 10 together with the stacking pallet 105a.

[0050] The pickup position R1 of the separator supply device 102, the pickup position R2 of the spacer welding device 103, and the stacking position P of the stacking device 105 are arranged in one direction (for example, along the X-axis direction). Therefore, the transfer device 107 can transfer the separator 51 to the pickup position R2 by picking up the separator 51 with the hand device 171 at the pickup position R1 and moving the hand device 171 in that direction. Furthermore, the transfer device 107 can transfer the separator unit 15 to the stacking position P by picking up the separator unit 15 with the hand device 171 at the pickup position R2 and moving the hand device 171 in that direction. In this way, the transfer targets (workpieces) of the transfer device 107 are the workpiece W1 consisting of only the separator 51 and the workpiece W2, which is the separator unit 15 including the separator 51 and the spacer 52. Next, the transfer device 107 will be described in detail.

[0051] FIG. 4 is a schematic side view showing a portion of the energy storage module manufacturing apparatus 100 shown in FIG. 3. As shown in FIG. 4, the transport device 107 includes a hand device 171 (hand unit) and a moving unit 172. The transport device 107 is a device that transports a workpiece W1 from the separator supply device 102 to the spacer welding device 103, and transports a plurality of workpieces W2 from the spacer welding device 103 to the stacking device 105. For convenience, the example in FIG. 4 illustrates a state in which the electrode units 13 are arranged on a stacking pallet 105a of the stacking device 105. However, as will be described later, in this embodiment, the electrode units 13 are not stacked on the stacking pallet 105a before the spacers 52 are welded to the separators 51 in the spacer welding device 103.

[0052] The hand device 171 has a suction hand 181 and a vertical movement mechanism 182. The vertical movement mechanism 182 moves the suction hand 181 in the vertical direction (Z-axis direction). In the hand device 171, the vertical movement mechanism 182 lowers the suction hand 181 toward the workpieces W1, W2, and the suction hand 181 comes into contact with the workpieces W1, W2, thereby allowing the suction hand 181 to suction and hold the workpieces W1, W2. In addition, in the hand device 171, when the suction hand 181 has suctioned the workpieces W1, W2, the vertical movement mechanism 182 raises the suction hand 181, thereby allowing the workpieces W1, W2 to be suctioned and held in the air.

[0053] The moving unit 172 moves the hand device 171 along the arrangement direction (here, the X-axis direction) of the pickup position R1 of the separator supply device 102, the pickup position R2 of the spacer welding device 103, and the stacking position P of the stacking device 105. In addition, the moving unit 172 can stop the hand device 171 at positions corresponding to the pickup position R1, the pickup position R2, and the stacking position P, respectively.

[0054] As a result, the moving unit 172 can transport the workpiece W1 to the pickup position R2 by moving the hand device 171, which is holding the workpiece W1, from the pickup position R1 of the separator supply device 102 toward the pickup position R2 of the spacer welding device 103. At this time, in the transport device 107, the vertical movement mechanism 182 lowers the suction hand 181 and releases the suction of the workpiece W1 by the suction hand 181, thereby placing the workpiece W1 at the pickup position R2. In addition, the moving unit 172 can transport the workpiece W2 to the stacking position P on the stacking device 105 by moving the hand device 171, which is holding the workpiece W2, from the pickup position R2 of the spacer welding device 103 toward the stacking position P of the stacking device 105. At this time, in the transport device 107, the vertical movement mechanism 182 lowers the suction hand 181 and releases the suction of the workpiece W2 by the suction hand 181, thereby placing the workpiece W2 on the stacking device 105.

[0055] As described above, the moving unit 172 moves the hand device 171 in one direction (the X-axis direction). To this end, the moving unit 172 has a rail 183, a pair of pulleys 184 and 185, a belt 186, and a connecting unit 187.

[0056] The rail 183 extends along the X-axis direction above (on the positive side in the Z-axis direction) the separator supply device 102, the spacer welding device 103, and the stacking device 105. The length of the rail 183 is, for example, about 10 m.

[0057] The pulley 184 is disposed at one end of the rail 183, and the pulley 185 is disposed at the other end of the rail 183. At least one of the pair of pulleys 184, 185 is connected to a drive source such as a motor and is rotatable. The distance between the pair of pulleys 184, 185 is set to be longer than the moving distance of the hand device 171 described above. More specifically, the distance between the pair of pulleys 184, 185 is set so that at least the hand device 171 can move from the pick-up position R1 to the stacking position P.

[0058] The belt 186 extends along the extension direction (X-axis direction) of the rail 183 and is stretched over the pulleys 184 and 185. As a result, the belt 186 is driven to rotate in a circular manner in accordance with the rotation of the pulleys 184 and / or 185. As a result, one of the parallel portions of the belt 186 is driven along the conveyance direction (X-axis direction) of the works W1 and W2 from the separator supply device 102 to the stacking device 105, and the other is driven in the opposite direction to the conveyance direction. The belt 186 is, for example, a timing belt. As a result, the belt 186 can move the hand device 171 at high speed. In this embodiment, the moving unit 172 controls the position of the hand device 171 based on the number of rotations of the belt drive.

[0059] The connection portion 187 connects the belt 186 and the hand device 171. The connection portion 187 includes a base portion 188 and an arm portion 189. Here, the base portion 188 is engaged with the rail 183 so as to be able to move along the rail 183, and is fixed to an upper portion of the belt 186 that are parallel to each other. The arm portion 189 connects the base portion 188 and the hand device 171 via an alignment mechanism 174, which will be described later. This makes it possible to move the hand device 171 along the rail 183 (along the X-axis direction) as the belt 186 is driven in a circular motion.

[0060] The sensor 173 is provided in the stacking device 105. The sensor 173 detects the position of the workpiece W2 when it is transported above the stacking position P of the stacking device 105 and held by the hand device 171. More specifically, the sensor 173 detects the edge of the workpiece W2. In this embodiment, the sensor 173 holds in advance a reference position that serves as a reference for the position of the edge of the workpiece W2 at the stacking position P, and can detect deviations between the edge of the workpiece W2 held by the hand device 171 above the stacking position P and the reference position. More specifically, the sensor 173 can detect deviations of the edge of the workpiece W2 from the reference position in the X-axis direction and the Y-axis direction. The sensor 173 can also detect deviations of the edge of the workpiece W2 from the reference position in the rotation direction around the rotation axis along the Z-axis (hereinafter, sometimes simply referred to as the "θ direction").

[0061] In this embodiment, the sensor 173 includes, for example, cameras 173a, 173b, and 173c. The cameras 173a, 173b, and 173c are provided spaced apart from each other on the stacking device 105. Each of the cameras 173a, 173b, and 173c is provided to face upward (the positive side in the Z-axis direction). This allows each of the cameras 173a, 173b, and 173c to capture images of the workpiece W2 held above the stacking position P on the stacking device 105 from different positions. The sensor 173 can detect the edge of the workpiece W2 based on the images captured by the cameras 173a, 173b, and 173c.

[0062] FIG. 5 is a schematic diagram showing the separator unit 15 held by the hand device 171 and the detection range of the sensor 173. FIG. 5 illustrates the workpiece W2 held above the stacking position P on the stacking device 105, as viewed from the stacking device 105. In the example of FIG. 5, the detection range Sa of the sensor 173 based on the image of the camera 173a, the detection range Sb of the sensor 173 based on the image of the camera 173b, and the detection range Sc of the sensor 173 based on the image of the camera 173c are each illustrated by a dashed line. As shown in FIG. 5, the sensor 173 detects the edge on the negative side in the Y-axis direction (upper side in FIG. 5) of the two edges of the workpiece W2 extending in the X-axis direction, and also detects the edge on the negative side in the X-axis direction (left side in FIG. 5) of the two edges of the workpiece W2 extending in the Y-axis direction. The detection range Sb and the detection range Sc are spaced apart from each other in the Y-axis direction. The detection range Sb is located on the negative side in the Y-axis direction of the detection range Sc.

[0063] The sensor 173 detects the position of the edge of the workpiece W2 included in each detection range Sa, Sb, and Sc by image recognition. A reference position is set for each detection range Sa, Sb, and Sc. The sensor 173 can detect deviation of the edge of the workpiece W2 from the reference position by comparing the position of the edge of the workpiece W2 detected in each detection range Sa, Sb, and Sc with the respective reference positions. The sensor 173 can detect deviation of the workpiece W2 in the Y-axis direction from the reference position when the workpiece W2 is held above the stacking position P of the stacking device 105 by detecting the edge in the detection range Sa. Furthermore, the sensor 173 can detect deviation of the workpiece W2 in the X-axis direction from the reference position when the workpiece W2 is held above the stacking position P of the stacking device 105 by detecting the edge in at least one of the detection range Sb and the detection range Sc. Furthermore, the sensor 173 can detect deviation of the workpiece W2 in the θ direction from the reference position when the workpiece W2 is held above the stacking position P of the stacking device 105 by using edge detection in both the detection range Sb and the detection range Sc.

[0064] The alignment mechanism 174 is provided in the hand device 171. The alignment mechanism 174 is a mechanism that adjusts the relative position of the workpiece W2 held by the hand device 171 with respect to the stacking device 105 based on the detection result of the sensor 173. The alignment mechanism 174 adjusts the relative position of the workpiece W2 by adjusting the position of the hand device 171 with respect to the stacking device 105. In this embodiment, the alignment mechanism 174 is interposed between the vertical movement mechanism 182 of the hand device 171 and the arm unit 189 (movement unit 172) of the connection unit 187. Based on the position of the edge of the workpiece W2 detected by the sensor 173, the alignment mechanism 174 adjusts the relative position of the workpiece W2 with respect to the stacking device 105 so that the edge of the workpiece W2 held by the hand device 171 coincides with a reference position. More specifically, the relative position of the workpiece W2 is adjusted so that the edges of the workpiece W2 detected in each of the detection ranges Sa, Sb, and Sc of the sensor 173 coincide with the reference positions in each of the detection ranges Sa, Sb, and Sc. To achieve this, the alignment mechanism 174 is configured to be able to move the hand device 171 independently in each of the X-axis direction, Y-axis direction, and θ direction.

[0065] Next, a description will be given of a method for manufacturing an energy storage module according to this embodiment. Fig. 6 is a flowchart showing one step of the method for manufacturing an energy storage module according to this embodiment. As shown in Figs. 6 and 7, in the method for manufacturing an energy storage module according to this embodiment, first, the spacer welding device 103 supplies a spacer 52 to the pickup position R2 (step S1). Then, the separator supplying device 102 supplies a separator 51 to the pickup position R1 (step S2).

[0066] Next, the conveying device 107 picks up and holds, as the workpiece W1, the separator 51 that was held by the separator supplying device 102 and supplied to the pickup position R1 in step S2 (step S3). More specifically, in step S3, first, the moving unit 172 of the conveying device 107 drives the belt 186 to move the hand device 171 from a predetermined standby position to above the pickup position R1. Next, in step S3, the hand device 171 drives the vertical movement mechanism 182 to lower the suction hand 181 toward the workpiece W1. As a result, the suction hand 181 adsorbs the workpiece W1. Then, in step S3, the hand device 171 drives the vertical movement mechanism 182 to raise the suction hand 181 that has adsorbed the workpiece W1. As a result, the hand device 171 picks up the workpiece W1 and adsorbs and holds it. In this manner, in this step S3, the workpiece W1 is picked up and held by the hand device 171 in the separator supply device 102.

[0067] 6 and 8, the moving unit 172 drives the belt 186 to move the hand device 171, which is holding the workpiece W1 in step S3, from the separator supply device 102 toward the spacer welding device 103, thereby transporting the workpiece W1 from the separator supply device 102 to above the pickup position R2 of the spacer welding device 103 (step S4). In step S4, the hand device 171 also drives the vertical movement mechanism 182 to lower the suction hand 181 and release the suction of the workpiece W1. As a result, the workpiece W1 is placed on the spacer 52 that has already been supplied to the pickup position R2 in step S1, as shown in FIG.

[0068] Next, the spacer welding device 103 welds the separator 51 and the spacer 52 placed on the spacer 52 in step S4 using a welding part (step S5). As an example, the separator 51 and the spacer 52 are temporarily welded together to fix the separator 51 and the spacer 52 to each other. The welding part may be provided in the spacer welding device 103 or in the hand device 171. In this way, the separator unit 15 (workpiece W2) is formed at the pickup position R2 of the spacer welding device 103. No sensor is provided in the spacer welding device 103. When placing the workpiece W1 in step S4, the alignment mechanism 174 does not adjust the position of the workpiece W1. When placing the workpiece W1, it is sufficient that the separator 51 is placed on the spacer 52 so as to cover at least the inner edge of the spacer 52. Therefore, the alignment accuracy of the workpiece W1 is not as strict as when stacking the workpieces W2 to form the sealed body 20.

[0069] Subsequently, the electrode supplying device 104 places the electrode unit at the stacking position P (step S6). Here, the electrode supplying device 104 places the electrode unit 13 that will be the first layer on the stacking pallet 105a.

[0070] 6 and 9, the hand device 171 picks up and holds the workpiece W2 at the pickup position R2 in the spacer welding device 103 (step S7, first step). More specifically, the hand device 171 drives the vertical movement mechanism 182 to bring the suction hand 181 into contact with the workpiece W2. As a result, the suction hand 181 adsorbs the workpiece W2. Then, in step S7, the hand device 171 drives the vertical movement mechanism 182 to raise the suction hand 181 that has adsorbed the workpiece W2. As a result, the hand device 171 picks up and adsorbs and holds the workpiece W2. In this way, in step S7, the hand device 171 picks up and holds the workpiece W2 in the spacer welding device 103.

[0071] Next, as shown in Figures 6 and 10, the moving unit 172 drives the belt 186 to move the hand device 171 holding the workpiece W2 in step S7 from the spacer welding device 103 toward the stacking device 105, thereby transporting the workpiece W2 held by the hand device 171 from the spacer welding device 103 to the stacking position P on the stacking device 105 (step S8, second step).

[0072] As described above, the energy storage module manufacturing method includes a transport step of transporting the work W2, which is a component of the energy storage module 1, from the spacer welding device 103 to the stacking device 105, which stacks the electrode unit, which is another component of the energy storage module 1, and multiple work W2 using a transport device 107 having a hand device 171 for holding the work W2 and a moving section 172 for moving the hand device 171.

[0073] The example in Fig. 10 illustrates a state in which the hand device 171 is stopped on the stacking device 105. In this embodiment, a belt 186 is used to drive the hand device 171, and the moving unit 172 controls the position of the hand device 171 based on the number of rotations of the belt drive. Therefore, there is a possibility that the stopping position of the separator unit 15 held by the hand device 171 will vary due to various factors such as tolerances of the resin that makes up the belt 186, rattles in the meshing of gears, and backlash. The example in Fig. 10 illustrates a state in which the separator unit 15 is shifted in the negative direction of the X-axis relative to the electrode unit 13 due to the influence of the variation in the stopping position of the separator unit 15 held by the hand device 171.

[0074] Next, the sensor 173 detects the position of the workpiece W2, which was transported above the stacking position P in step S8 and is held by the hand device 171 (step S9, third step). As described above, the sensor 173 detects the edge of the workpiece W2 based on the images captured by the cameras 173a, 173b, and 173c. In the example of FIG. 10, the sensor 173 detects that the workpiece W2 held by the hand device 171 is displaced in the X-axis direction with respect to the reference position of the stacking device 105.

[0075] 6 and 11, the alignment mechanism 174 adjusts the relative position of the workpiece W2 with respect to the stacking device 105 based on the position of the workpiece W2 detected by the sensor 173 (step S10, fourth step). Here, the alignment mechanism 174 adjusts the relative position of the workpiece W2 held by the hand device 171 by adjusting the position of the hand device 171 with respect to the stacking device 105. More specifically, in step S10, the alignment mechanism 174 moves the hand device 171 holding the workpiece W2 so that the edge of the workpiece W2 detected by the sensor 173 coincides with a reference position, thereby adjusting the relative position of the workpiece W2. The example in FIG. 11 illustrates a state in which the alignment mechanism 174 moves the hand device 171 and the workpiece W2 along the X-axis direction to adjust the relative position of the workpiece W2.

[0076] 6 and 12, the hand device 171 stacks (places) the workpiece W2 on the electrode unit 13 in the stacking device 105 (step S11). In step S11, the workpiece W2, whose position relative to the stacking device 105 has been adjusted, is placed on the stacking device 105 (fifth step). More specifically, in step S11, the hand device 171 drives the vertical movement mechanism 182 to lower the suction hand 181 and release the suction of the workpiece W2. As a result, the workpiece W2 is stacked on the electrode unit 13 that was already placed on the stacking pallet 105a at the stacking position P in step S6. As a result, a stack of electrode units 13 and separator units 15 is formed in the stacking device 105 (stacking pallet 105a). By repeating steps S1 to S11 as described above while changing the type of electrode unit at appropriate times, a stack 10 is formed on the stacking pallet 105a of the stacking device 105. Thereafter, the stacking device 105 carries out the stack 10 together with the stacking pallet 105a, whereby the stack 10 is supplied to the subsequent process.

[0077] In a process after forming the laminate 10, for example, the sealing members 22 and the spacers 52 are melted by non-contact heating. The sealing members 22 and the spacers 52 are melted by, for example, irradiating them with infrared rays using an infrared heater or the like. As a result, the sealing members 22 and the spacers 52 are melted and are welded together to form an integrated body 20.

[0078] Next, the electrolyte solution is poured into the storage spaces S. The pouring is performed, for example, through a communication hole (not shown) provided in the sealing body 20. Thereafter, the communication hole is sealed to seal the plurality of storage spaces S and the electrolyte disposed in the storage spaces S. Through the above steps, the energy storage module 1 is manufactured (the energy storage module manufacturing method is completed).

[0079] Next, the effects of the power storage module manufacturing apparatus 100 and the power storage module manufacturing method according to this embodiment will be described.

[0080] In the energy storage module manufacturing apparatus 100 according to this embodiment, a workpiece W2, which is a component of the energy storage module 1, is transported from the spacer welding apparatus 103 to a stacking position P on a stacking device 105, where an electrode unit, which is another component of the energy storage module 1, and a plurality of workpieces W2 are stacked, by moving a hand device 171 holding the workpiece W2. Meanwhile, in this energy storage module manufacturing apparatus 100, a sensor 173 is used to detect the workpiece W2 that has been transported above the stacking position P and is held by the hand device 171. Then, based on the detection result of the sensor 173, the relative position of the workpiece W2 held by the hand device 171 with respect to the stacking device 105 is adjusted, and the workpiece W2 whose relative position with respect to the stacking device 105 has been adjusted by an alignment mechanism 174 is placed on the stacking device 105. This suppresses misalignment of the workpiece W2 at the stacking position P. Furthermore, in the energy storage module manufacturing apparatus 100 according to this embodiment, the sensor 173 that detects the workpiece W2 is provided on the stacking device 105. If the sensor 173 were provided on the hand device 171, the weight of the hand device 171 would increase. Therefore, it would be necessary to provide a moving unit 172 capable of driving a heavy object, which could result in the size of the energy storage module manufacturing apparatus 100. Furthermore, if the hand device 171 becomes heavy, the inertia of the hand device 171 when it stops would increase, causing backlash and potentially causing displacement of the workpiece W2 at the stacking position P. In this regard, in the energy storage module manufacturing apparatus 100 and the energy storage module manufacturing method according to this embodiment, the sensor 173 is provided on the stacking device 105, which makes it possible to reduce the weight of the hand device 171 and to prevent displacement of the workpiece W2 at the stacking position P.

[0081] In the energy storage module manufacturing apparatus 100 according to this embodiment, the moving unit 172 includes a belt 186 that is driven in a conveyance direction from the spacer welding device 103 toward the stacking device 105, and by driving the belt 186, the hand device 171 is moved from the spacer welding device 103 toward the stacking device 105. In this case, by driving the belt 186, it is possible to move the hand device 171 from the spacer welding device 103 toward the stacking device 105. In this way, by using the belt 186 to drive the hand device 171, no driving unit is provided in the hand device 171, and therefore the hand device 171 can be made lighter and moved at high speed.

[0082] In the energy storage module manufacturing apparatus 100 according to this embodiment, the alignment mechanism 174 adjusts the position of the hand device 171 relative to the stacking device 105, thereby adjusting the relative position of the workpiece W2. If the alignment mechanism 174 were to adjust the position of the stacking device 105 relative to the hand device 171, the alignment mechanism 174 would need to drive the stacking pallet 105a of the stacking device 105 together with the numerous workpieces W2 and electrode units that have already been stacked. This would require an alignment mechanism 174 capable of driving heavy objects, which could result in an increase in the size of the apparatus. In contrast, if the alignment mechanism 174 were to adjust the position of the hand device 171 relative to the stacking device 105, the alignment mechanism 174 would be provided on the hand device 171 side, and the alignment mechanism 174 would only need to drive relatively light objects such as one workpiece W2 and hand device 171, thereby avoiding an increase in the size of the apparatus.

[0083] In the energy storage module manufacturing apparatus 100 according to this embodiment, the sensor 173 detects the edge of the workpiece W2, and the alignment mechanism 174 adjusts the relative position of the workpiece W2 so that the edge of the workpiece W2 detected by the sensor 173 coincides with a reference position. In this case, by utilizing the edge of the workpiece W2 detected by the sensor 173, it is possible to reliably suppress positional deviation of the workpiece W2 at the stacking position P.

[0084] In the energy storage module manufacturing method according to this embodiment, a workpiece W2, which is a component of the energy storage module 1, is transported by moving the workpiece W2 while being held from the spacer welding device 103 to a stacking position P on a stacking device 105 that stacks an electrode unit, which is another component of the energy storage module 1, and a plurality of the workpieces W2. In this energy storage module manufacturing method, the workpiece W2 is detected after being transported to the stacking position P and held therein. Then, based on the detected position of the workpiece W2, the relative position of the workpiece W2 in the held state with respect to the stacking device 105 is adjusted, and the workpiece W2, whose position relative to the stacking device 105 has been adjusted, is placed on the stacking device 105. This prevents the workpiece W2 from shifting in position at the stacking position P.

[0085] The above embodiment has described one aspect of the present disclosure, and the present disclosure is not limited to the above example and can be modified.

[0086] 13 is a schematic side view showing the operation of a power storage module manufacturing apparatus 100 according to a modified example. Differences from the above embodiment will be mainly described below, and overlapping descriptions will be omitted as appropriate. First, the configuration of the power storage module manufacturing apparatus 100 according to the modified example will be described.

[0087] 13, in the power storage module manufacturing apparatus 100, the sensor 173 is provided above the stacking position P of the stacking device 105. The sensor 173 includes, as an example, cameras 173a and 173b. The cameras 173a and 173b are spaced apart from each other and are provided so as to face downward (the negative side in the Z-axis direction).

[0088] The suction hand 181 has cutouts 181a and 181b, for example, formed by cutting out an end portion in a plan view. The cutout 181a is located at an end portion of the suction hand 181 in the Y direction, at a position where the suction hand 181 overlaps the workpiece W2 when the suction hand 181 holds the workpiece W2. The cutout 181a is located at a position facing the camera 173a in the Z axis direction. The cutout 181b is located at an end portion of the suction hand 181 in the X direction, at a position where the suction hand 181 overlaps the workpiece W2 when the suction hand 181 holds the workpiece W2. The cutouts 181a and 181b are located at positions where the suction hand 181 overlaps the edge of the workpiece W2, for example. The cutout 181b is located at a position facing the camera 173b in the Z axis direction. Note that the positions at which the cutouts 181a and 181b are located may be changed as appropriate, as long as they correspond to the positions of the cameras 173a and 173b.

[0089] Each of the cutouts 181a and 181b extends from one end (upper side of the paper in FIG. 13) of the suction hand 181 in the Z-axis direction to the other end (lower side of the paper in FIG. 13). Therefore, when the workpiece W2 is held by the hand device 171, the workpiece W2 (e.g., the edge of the workpiece W2) can be seen through each of the cutouts 181a and 181b in a plan view. The camera 173a captures an image of the workpiece W2 through the cutout 181a. The camera 173b captures an image of the workpiece W2 through the cutout 181b. The cameras 173a and 173b capture, for example, an image of the edge of the workpiece W2. The sensor 173 detects the workpiece W2 based on the images captured by the cameras 173a and 173b. The sensor 173 detects, for example, the edge of the workpiece W2.

[0090] Next, a description will be given of a modified example of a manufacturing method for a power storage module. In the example of Fig. 13, the operation of the power storage module manufacturing apparatus 100 that is executed after step S8 and before step S9 is illustrated.

[0091] In the above embodiment, after step S8 is performed, in step S9, the sensor 173 detects the position of the workpiece W2, which has been transported above the stacking position P and is held by the hand device 171, from below the workpiece W2. However, in this modified example, after step S8 and before step S9, the hand device 171 first presses the workpiece W2 against the stacking device 105 (here, the electrode unit 13 on the stacking device 105) while holding the workpiece W2 (pressing step). Specifically, the hand device 171 continues to hold the workpiece W2 with the suction hand 181, and lowers the suction hand 181 using the up-down movement mechanism 182, thereby bringing the workpiece W2 into contact with the electrode unit 13.

[0092] Then, step S9 is performed while the hand device 171 continues to hold the workpiece W2. In step S9, the sensor 173 detects the workpiece W2 pressed against the electrode unit 13 on the stacking device 105. At this time, the sensor 173 detects the edge of the workpiece W2 based on an image captured by the camera 173a from above the workpiece W2 through the notch 181a. The sensor 173 also detects the edge of the workpiece W2 based on an image captured by the camera 173b from above the workpiece W2 through the notch 181b. In the example of FIG. 13, the sensor 173 detects that the workpiece W2 held by the hand device 171 is displaced in the X-axis direction with respect to the reference position of the stacking device 105.

[0093] Subsequently, before step S10, the hand device 171 separates the workpiece W2 from the electrode unit 13. Specifically, the hand device 171 drives the vertical movement mechanism 182 to raise the suction hand 181 while continuing to hold the workpiece W2 with the suction hand 181. Then, step S10 is executed in the same manner as in the above embodiment. Thereafter, the energy storage module 1 is manufactured through the same steps as in the above embodiment.

[0094] In the energy storage module manufacturing apparatus 100 according to this modification, the hand device 171 holds the workpiece W2 and presses it against the stacking device 105, and the sensor 173 detects the workpiece W2 pressed against the stacking device 105. In this way, by detecting the workpiece W2 that has been held by the hand device 171 and pressed against the stacking device 105 to straighten the warp, the relative position of the workpiece W2 with respect to the stacking device 105 can be detected more accurately.

[0095] The manufacturing method for the energy storage module according to this modification further includes a step of pressing the held workpiece W2 against the stacking device 105 after the second step and before the third step, and in the third step, detecting the workpiece W2 pressed against the stacking device 105. In this way, by detecting the workpiece W2 whose warpage has been straightened by being held and pressed against the stacking device 105, the relative position of the workpiece W2 with respect to the stacking device 105 can be detected more accurately.

[0096] In the above-described modified example, the notches 181a and 181b may not be provided in the suction hand 181. The sensor 173 may be provided at a position where it can detect the workpiece W2 (for example, an edge of the workpiece W2) held by the hand device 171. The cameras 173a and 173b constituting the sensor 173 may be provided, for example, in a position shifted from the suction hand 181 that has moved above the stacking position P of the stacking device 105 in a plan view (i.e., a position where it looks down on the workpiece W2 from diagonally above).

[0097] The above-described modified examples and the above-described embodiment may be combined as appropriate. For example, in the above-described embodiment, after step S8 and before step S9, a step of pressing the workpiece W2 against the stacking device 105 while the hand device 171 is holding the workpiece W2 may be performed. Then, step S9 may be performed while the hand device 171 continues to hold the workpiece W2. In this case, the workpiece W2 pressed against the electrode unit 13 on the stacking device 105 is detected from below by the sensor 173.

[0098] In the above embodiment, an example has been given in which the alignment mechanism 174 is provided in the hand device 171. However, the alignment mechanism 174 may be provided in the stacking device 105. In this case, the alignment mechanism 174 can adjust the relative position of the workpiece W2 with respect to the stacking device 105 by driving a stage on which the workpiece W2 and the electrode units of the stacking device 105 are stacked, based on the detection result of the sensor 173. In this case, if the workpiece W2 and the electrode units are repeatedly stacked while driving the stage to adjust the relative position of the workpiece W2, the stage may be displaced from its initial position when the stack 10 is constructed on the stacking pallet 105a. Therefore, the alignment mechanism 174 may perform an operation to move the stage so as to return it to its initial position when the next stacking is started (when a new stacking pallet 105a is supplied).

[0099] The energy storage module manufacturing apparatus 100 may also include a sensor that detects the position of the separator 51 supplied to the pickup position R1 of the separator supply device 102 and the position of the spacer 52 supplied to the pickup position R2 of the spacer welding device 103. In this case, the energy storage module manufacturing apparatus 100 may perform an operation of detecting the positions of the separator 51 and the spacer 52 using the sensor when the separator 51 and the spacer 52 supplied to the pickup position R1 and the pickup position R2 are picked up by the hand device 171. The energy storage module manufacturing apparatus 100 may also perform an operation of adjusting the position of the hand device 171 using the alignment mechanism 174 based on the positions of the separator 51 and the spacer 52 detected by the sensor. In this case, the separator 51 and the spacer 52 can be picked up more accurately by the hand device 171.

[0100] The energy storage module manufacturing apparatus 100 may also perform an operation to adjust the relative position of the workpiece W1 held on the spacer welding apparatus 103 and the spacer welding apparatus 103. More specifically, the spacer welding apparatus 103 may be provided with a sensor for detecting the workpiece W1 transported to the pickup position R2 and held on the spacer welding apparatus 103. The alignment mechanism 174 provided on the hand device 171 may also adjust the relative position of the workpiece W1 with respect to the spacer welding apparatus 103 based on the detection result of the sensor. In this case, it is possible to prevent the workpiece W1 from being misaligned at the pickup position R2 when the separator 51 is stacked on the spacer 52 on the spacer welding apparatus 103.

[0101] Furthermore, in the above embodiment, an example has been given of a mode in which the workpiece W2 is transported from a spacer welding device 103 (first device) that holds the workpiece W2, which is a component of the power storage module 1, to a stacking device 105 (second device) that stacks the workpiece W2 and an electrode unit, which is another component of the power storage module 1. However, if the supply of the spacers 52 and the welding of the spacers 52 to the separators 51 are achieved by the stacking device 105, for example, the power storage module manufacturing apparatus 100 does not need to have the spacer welding device 103. In this case, the power storage module manufacturing apparatus 100 may transport the workpiece W1 from a separator supplying device 102 (first device) that holds the workpiece W1 to the stacking device 105 (second device).

[0102] In the above embodiment, the hand device 171 stacks the workpiece W2, which is the separator unit 15, on the electrode unit 13. However, the hand device 171 may stack the workpiece W2, which is the spacer 52, on the electrode unit 13. In this case, the hand device 171 may then stack the separator 51 on the spacer 52 and the electrode unit 13. Furthermore, in step S6, the electrode supply device 104 may place the electrode unit 14, which is the first layer, on the stacking pallet 105a. In this case, the hand device 171 may stack the workpiece W2, which is the separator 51, on the electrode unit 14. Then, after stacking the separator 51 (workpiece W2) on the electrode unit 14, the separator 51 may be welded to the sealing member 22 included in the electrode unit 14, and then the hand device 171 may stack the spacer 52 on the separator 51 and the electrode unit 14.

[0103] Furthermore, in the above embodiment, an example has been given of a mode in which the workpiece W2 is placed on the stacking device 105 relative to the electrode unit, which is another component of the power storage module 1. However, the transport device 107 may be configured to transport and stack not only the workpiece W1 and the workpiece W2, but also the electrode unit to the stacking device 105.

[0104] Furthermore, when transporting the workpiece W1 to the pickup position R2, the transport device 107 may lower the suction hand 181 holding the workpiece W1 and place the workpiece W1 at the pickup position R2 without releasing the suction. In this case, the spacer 52 is welded to the separator 51 held by the suction hand 181 to form the workpiece W2. Furthermore, the transport device 107 holds (picks up) the workpiece W2 while still holding the separator 51 by suction.

[0105] The hand device 171 and the moving unit 172 are not limited to those described above, and may be configured by other transport devices (for example, a robot hand). [Explanation of symbols]

[0106] 1...storage module, 12, 13, 14...electrode unit (electrode), 100...storage module manufacturing apparatus, 103...spacer welding apparatus (first apparatus), 105...stacking apparatus (second apparatus), 107...conveying apparatus, 171...hand apparatus (hand unit), 172...moving unit, 173...sensor, 174...alignment mechanism (adjustment mechanism), 186...belt, 187...connecting unit, P...stacking position, W1, W2...work.

Claims

1. a conveying device that conveys workpieces that are components of an energy storage module from a first device to a second device that stacks a plurality of the workpieces; a sensor that detects the workpieces; and an adjustment mechanism that adjusts the relative positions of the workpieces; The conveying device is a hand unit that picks up and holds the workpiece; a moving unit that transports the workpiece from the first device to a stacking position on the second device by moving the hand unit, while holding the workpiece, from the first device toward the second device, the sensor is provided in the second device and detects the workpiece that has been transported to the stacking position and is held by the hand unit; the adjustment mechanism adjusts the relative position of the workpiece held by the hand unit with respect to the second device based on the detection result of the sensor; the hand unit places the workpiece, the relative position of which with respect to the second device has been adjusted by the adjustment mechanism, on the second device; the hand unit presses the workpiece against the second device while holding the workpiece; The sensor detects the workpiece in a state pressed against the second device. Energy storage module manufacturing equipment.

2. The moving unit is a belt driven along a conveying direction from the first device toward the second device, The belt is driven to move the hand unit from the first device toward the second device. The energy storage module manufacturing apparatus according to claim 1 .

3. the adjustment mechanism adjusts the position of the hand unit with respect to the second device, thereby adjusting the relative position of the workpiece. The energy storage module manufacturing apparatus according to claim 1 or 2.

4. The sensor detects an edge of the workpiece, the adjustment mechanism adjusts the relative position of the workpiece so that the edge of the workpiece detected by the sensor coincides with a reference position. The energy storage module manufacturing apparatus according to claim 1 or 2.

5. a transport step of transporting workpieces that are components of an electricity storage module from a first device to a second device that stacks a plurality of the workpieces; The transporting step includes: a first step of picking up and holding the workpiece; a second step of transporting the workpiece in a held state from the first device to a stacking position on the second device after the first step; a third step of detecting the position of the workpiece conveyed to and held at the stacking position after the second step; a fourth step of adjusting a relative position of the workpiece with respect to the second device based on the detected position of the workpiece after the third step; a fifth step of placing the workpiece, the position of which has been adjusted relative to the second device, on the second device after the fourth step; The method further includes a step of pressing the workpiece in a held state against the second device after the second step and before the third step, In the third step, the workpiece is detected in a state pressed against the second device. A method for manufacturing an energy storage module.

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