Electrode stacking apparatus

Abstract

To provide an electrode lamination device preferably laminating a sheet-like electrode.SOLUTION: In an electrode lamination device 1, a stator 11 includes: a main surface F1 horizontally installed; and a plurality of coils 14 to a lower direction of the main surface F1. A lamination movable part 12 includes: a first movable element 121 that can be moved so as to be floated to an upper direction of the main surface F1 with a magnet; an electrode holding part 123; and a driving mechanism 124. The electrode holding part 123 depresses a base 122 installed to an upper part of the first movable element 121 and a sheet-like electrode M1 supplied to an upper surface of the base 122 from the upper direction. The driving mechanism 124 drives the electrode holding part 123 by receiving external force. An operation movable part 13 includes: a second movable element 131 that can be moved to the upper direction of the main surface F1; and an operation part 132 that operates the driving mechanism 124. A control part 40 controls each operation of the lamination movable part 12 and the operation movable part 13 by setting a current flowing each coil 14.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an electrode laminating apparatus.

Background Art

[0002] There is an apparatus for aligning and laminating sheet-like electrodes.

[0003] For example, the electrode laminating apparatus described in Patent Document 1 has a conveying apparatus disposed above a planar motor apparatus having a plurality of movers that can move while magnetically levitating on the surface of a flat stator. The conveying apparatus laminates a new sheet-like electrode on the electrode holding fixture of the mover. At this time, the mover moves in synchronization with the movement of the sheet-like electrode.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above-described apparatus, the orientation of the sheet-like electrode held by the conveying apparatus may tilt around the vertical axis. However, in this case, the above-described apparatus has a problem in appropriately operating the clamp provided in the electrode holding fixture.

[0006] [[ID=4​​​​​​​​​​The movable part for stacking includes a first movable element, an electrode holder, and a drive mechanism. The first movable element is capable of moving by magnetic levitation above the main surface. The electrode holder holds down the base, which is installed on top of the first movable element, and the sheet-like electrode supplied to the upper surface of the base, from above. The drive mechanism drives the electrode holder by receiving an external force. The operating movable part includes a second movable element that can move above the main surface, and an operating part that is fixed to the second movable element and operates the drive mechanism by contacting the drive mechanism. The control unit controls the operation of the stacking movable part and the operating movable part by setting the current flowing through the coil. [Effects of the Invention]

[0008] According to the present invention, an electrode stacking apparatus can be provided for suitably stacking sheet-shaped electrodes. [Brief explanation of the drawing]

[0009] [Figure 1] This is an overall perspective view of the electrode stacking apparatus 1 according to an embodiment. [Figure 2] This is a perspective view of the movable parts for stacking and the movable parts for operation. [Figure 3] This is a first side view showing the operation of the stacking movable part and the operating movable part. [Figure 4] This is a second side view showing the operation of the stacking movable part and the operating movable part. [Figure 5] This is a first top view showing the operation of the stacking movable part and the operating movable part. [Figure 6] This is a second top view showing the operation of the stacking movable part and the operating movable part. [Modes for carrying out the invention]

[0010] The present invention will be described below through embodiments of the invention, but the invention claimed is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential as means of solving the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted where necessary.

[0011] <Embodiment> Embodiments of the present invention will be described below with reference to the drawings. Figure 1 is an overall perspective view of an electrode stacking apparatus 1 according to an embodiment. The electrode stacking apparatus 1 is an apparatus for stacking a plurality of sheet-shaped electrodes. The electrode stacking apparatus 1 stacks a plurality of sheet-shaped electrodes to manufacture an electrode stack. The electrode stack is used, for example, as a battery mounted in a vehicle. The sheet-shaped electrodes may be, for example, electrodes for an all-solid-state battery or electrodes for a semi-solid-state battery. The thickness of the sheet-shaped electrodes is, for example, about 200 micrometers to 1000 micrometers. In the following description, sheet-shaped electrodes may be simply referred to as electrodes.

[0012] The electrode stacking apparatus 1 shown in Figure 1 mainly consists of a planar motor 10, a transport device 20, a camera 30, and a control unit 40. In the electrode stacking apparatus 1, the transport device 20 receives rectangular electrodes M1 and sequentially supplies the received electrodes M1 to the planar motor 10. As a result, the planar motor 10 stacks the electrodes M1.

[0013] For convenience in explaining the positional relationships of the components, Figure 1 is accompanied by a right-handed Cartesian coordinate system. Furthermore, in Figures 2 and beyond, when a Cartesian coordinate system is provided, the X, Y, and Z axes of Figure 1 coincide with the X, Y, and Z axes of these Cartesian coordinate systems, respectively.

[0014] The planar motor 10 has a mover provided on a stator having a flat surface move on this flat surface. The planar motor 10 mainly includes a stator 11, a lamination movable part 12, and an operation movable part 13.

[0015] The stator 11 has a main surface F1 installed horizontally and a plurality of coils 14 below the main surface F1. When an electric current flows through the coil 14, the stator 11 generates a magnetic field on the main surface F1. Thereby, the planar motor 10 levitates the lamination movable part 12 and the operation movable part 13 installed on the main surface F1 and moves the levitated lamination movable part 12 and operation movable part 13. Also, the stator 11 may have a plurality of magnetic sensors along the main surface F1. The magnetic sensors are used to detect the positions of the lamination movable part 12 and the operation movable part 13 that levitate and move above the main surface F1.

[0016] The stator 11 supplies the output of the magnetic sensors to the control unit 40. Thereby, the control unit 40 preferably recognizes the positions of the lamination movable part 12 and the operation movable part 13. Also, the electric current flowing through the coil 14 of the stator 11 is controlled by the control unit 40. Thereby, the control unit 40 preferably controls the movements of the lamination movable part 12 and the operation movable part 13. Details of the lamination movable part 12 and the operation movable part 13 will be described later.

[0017] The transfer device 20 is installed above the planar motor 10 and supplies an electrode M1 to the lamination movable part 12 of the planar motor 10. The transfer device 20 mainly includes a rail 21 and a transfer part 22.

[0018] The rail 21 is an annularly formed rail that guides the engaged conveying unit 22. The rail 21 has a straight portion parallel to the main surface F1 so as to face the main surface F1. The straight portion of the rail 21 is engaged with the conveying unit 22 so that it can move linearly. The conveying device 20 shown in FIG. 1 has an oval shape including this straight portion. Further, the rail 21 is installed such that the surface formed by the oval shape formed by the rail 21 is orthogonal to the main surface F1 and parallel to the direction in which the electrode M1 is conveyed. Furthermore, the conveying device 20 has two rails 21 arranged in parallel and parallel to the conveying direction (Y-axis direction) of the electrode M1. At this time, the distance between the two rails 21 corresponds to the size of the electrode M1. Thereby, the conveying device 20 can hold the end portions of the electrode M1.

[0019] The conveying unit 22 receives and holds the electrode M1. The conveying unit 22 conveys the electrode M1 held along the rail 21. Further, the conveying unit 22 supplies the electrode M1 to be conveyed to the operating movable unit 13. The main components of the conveying unit 22 include a suspension clamp 23 and a suspension base 24. The suspension clamp 23 can sandwich the electrode M1 between it and the suspension base 24. The suspension clamp 23 is set to be switchable between a state of sandwiching and holding the electrode M1 between it and the suspension base 24 by an arbitrary mechanism not shown, a state of receiving the electrode M1, or a state of releasing the electrode M1. The suspension base 24 engages with the rail 21 and linearly moves along the rail 21.

[0020] Note that the conveying device 20 may have a plurality of conveying units 22. Thereby, the conveying device 20 can, for example, correspond to electrodes M1 of various sizes. Further, the conveying device 20 can circulate the conveying unit 22 along the annularly formed rail 21 and continuously convey the electrode M1 by moving the plurality of conveying units 22 in the conveying direction. Note that the conveying device 20 may convey the electrode M1, for example, by repeating an operation of moving the conveying unit 22 to the upstream side after supplying the electrode M1 received on the upstream side to the operating movable unit 13 on the downstream side (that is, reciprocating).

[0021] The rail 21 may also guide the self-propelled transport unit 22. In this case, the transport unit 22 may have a motor for self-propulsion. The rail 21 may also have a movable part, such as a belt conveyor, for driving the transport unit 22. In this case, the transport unit 22 may follow the rail 21.

[0022] Camera 30 is installed above the transport device 20 and is configured to photograph the area below from its installed position. Camera 30 photographs the outer shape of the electrode M1 being transported by the transport device 20 and supplies the generated image data to the control unit 40. As a result, the image data generated by camera 30 and supplied to the control unit 40 includes information about the position and inclination of the outer shape of the electrode M1 being transported by the transport device 20. The control unit 40 receives the above image data and controls the stacking movable part 12 and the operating movable part 13 to correspond to the position and inclination of the electrode M1 included in the received image data. Alternatively, camera 30 may photograph a marker provided on the electrode M1 instead of the outer shape of the electrode M1.

[0023] The control unit 40 has a control board that includes a memory device that stores at least a program for the electrode stacking apparatus 1 to perform the functions of this disclosure, as well as a computing device such as a CPU (Central Processing Unit) or an MPU (Micro Processing Unit). The control unit 40 controls at least the movement of the stacking movable part 12 and the operating movable part 13 of the planar motor 10. That is, the control unit 40 controls the operation of the stacking movable part 12 and the operating movable part 13 by setting the current that flows through the coil of the stator 11. The control unit 40 also receives image data from the camera 30 and uses the received image data to control the position and inclination of the stacking movable part 12 and the operating movable part 13 to correspond to the position and inclination of the electrode M1.

[0024] The control unit 40 may control the movement of the transport device 20. When the control unit 40 controls the movement of the transport device 20, it can synchronize the movement of the transport section 22 of the transport device 20 with the movement of the stacking movable section 12 of the planar motor 10. The control unit 40 may also control the camera 30. In this case, the control unit 40 may, for example, control the pan, tilt, and zoom movements of the camera 30.

[0025] Next, the stacking movable part 12 and the operating movable part 13 will be further described with reference to Figure 2. Figure 2 is a perspective view of the stacking movable part 12 and the operating movable part 13. The stacking movable part 12 receives the electrodes M1 supplied by the transport device 20 and stacks them. At this time, the stacking movable part 12 moves in the direction of the arrow in Figure 2, which is the transport direction of the transport device 20. The operating movable part 13 is stopped in a position where it can operately contact the stacking movable part 12. Then the stacking movable part 12 comes into contact with the operating movable part 13 while moving in the transport direction. As a result, the operating movable part 13 is in a state to receive the electrodes M1 and further in a state to hold the received electrodes M1.

[0026] The stacking movable part 12 mainly consists of a first movable element 121, a base 122, an electrode holding part 123, and a drive mechanism 124.

[0027] The first movable element 121 is magnetically levitated above the stator 11 and can move above the main surface F1. The first movable element 121 includes a magnet to achieve the above function. The magnet is preferably a permanent magnet such as a neodymium magnet. The first movable element 121 supports a base 122, an electrode holder 123, and a drive mechanism 124 at its upper part.

[0028] The base 122 is a flat plate-shaped member that includes a main surface for receiving the electrode M1. The base 122 is installed to be vertically movable in order to stack the electrodes M1. The base 122 may be supported vertically by an elastic body such as a spring. The base 122 may be supported vertically by a motor. This allows the base 122 to be lowered in proportion to the number of electrodes M1 to be stacked.

[0029] The electrode holder 123 holds down the base 122, which is installed on top of the first movable element 121, and the electrode M1 supplied to the upper surface of the base 122 from above. The electrode holder 123 is also set to perform predetermined operations by the drive mechanism 124. These predetermined operations will be described later.

[0030] The drive mechanism 124 drives the electrode holding part 123 by receiving an external force. The drive mechanism 124 has a first lever 125 and a second lever 126. The first lever 125 and the second lever 126 are operated by contacting the operating part 132 of the operating movable part 13, thereby driving the electrode holding part 123.

[0031] The operating movable part 13 mainly consists of a second movable element 131 and an operating part 132. The second movable element 131 is movable above the main surface F1. The second movable element 131, like the first movable element 121, includes a magnet for levitating and moving along the main surface F1. The second movable element 131 also supports the operating part 132.

[0032] The operating part 132 is fixed to the second movable element 131 and operates the drive mechanism 124 by contacting the drive mechanism 124. The operating part 132 in this disclosure has a cam that engages with the first lever 125 and the second lever 126. Therefore, the operating part 132 of the operating movable part 13 drives the electrode holding part 123 by operating the first lever 125 and the second lever 126 that it contacts, as the relative position of the operating movable part 13 and the stacking movable part 12 changes.

[0033] Next, with reference to Figures 3 and 4, an example of the operation of the electrode holding section 123 and the drive mechanism 124 will be described. Figure 3 is a first side view showing the operation of the stacking movable section 12 and the operating movable section 13.

[0034] In Figure 3, the transport unit 22 of the transport device 20 is transporting the electrodes M1 in the transport direction. The stacking movable unit 12, located below the transport unit 22, is moving in the transport direction in conjunction with the transport unit 22. Meanwhile, the operating movable unit 13 is stopped downstream in the transport direction. The stacking movable unit 12 is in the state just before contacting the operating movable unit 13. At this time, the electrode holding unit 123 is in a holding state, holding the multiple electrodes M1 that have already been received from above.

[0035] The first lever 125 of the drive mechanism 124 has a drive element positioned to contact the first cam 133 of the operating section 132. The drive element is driven by contacting the first cam 133. When the drive element of the first lever 125 is operated by the first cam 133, the first lever 125 drives the electrode holding section 123. The second lever 126 of the drive mechanism 124 has a drive element that contacts the second cam 134 of the operating section 132. The electrode holding section 123 has a structure that switches between a holding state in which the electrode M1 is pressed from above and an open state in which a new electrode M1 can be received from above, in accordance with the movement of the drive element.

[0036] Figure 4 is a second side view showing the operation of the stacking movable part 12 and the operating movable part 13. The operating movable part 13 shown in Figure 4 is in a state where it is in contact with the stacking movable part 12 after moving further in the transport direction after the state shown in Figure 3. The first lever 125 is operated by the first cam 133 and drives the electrode holding part 123 to the open state. The second lever 126 is operated by the second cam 134 and drives the electrode holding part 123 to be lifted upward. As a result, the stacking movable part 12 is in a state where it can receive a new electrode M1 from the transport part 22.

[0037] The transport unit 22 releases the electrode M1 it was holding and drops it downwards. The stacking movable unit 12 receives a new electrode M1 and then moves further in the transport direction. At this point, the first lever 125 and the second lever 126 are operated by the operating unit 132, and the electrode holding unit 123 switches from the open state to the held state.

[0038] As described above, in the electrode stacking apparatus 1 of this disclosure, the operating part 132 of the operating movable part 13 has a cam that contacts the drive mechanism 124, and the drive mechanism 124 of the stacking movable part 12 has a drive element that contacts and is driven by the cam. The electrode holding part 123 has a structure that switches between a holding state in which the electrode M1 is pressed from above and an open state in which a new electrode M1 can be received from above, in accordance with the movement of the drive element. As a result, the electrode stacking apparatus 1 can switch between the holding state and the open state by changing the relative position while the stacking movable part 12 and the operating movable part 13 are in contact.

[0039] As mentioned above, the electrode stacking apparatus 1 further includes a transport apparatus 20. The transport device 20 holds and transports the electrodes M1 along a transport path set at least above the stator 11, and supplies the electrodes M1 to the stacking movable part 12 that moves along the transport path. As a result, the electrode stacking device 1 efficiently stacks the electrodes M1.

[0040] In the electrode stacking apparatus 1 of this disclosure, the control unit 40 moves the stacking movable part 12 in accordance with the transport device 20 that transports the electrodes M1 along the transport path. In addition, in the electrode stacking apparatus 1, the control unit 40 controls the position of the operating movable part 13 so that the electrode holding part 123 is in an open state when the transport device 20 drops the electrodes M1. As a result, the electrode stacking apparatus 1 efficiently stacks the electrodes M1.

[0041] Next, the operation of the stacking movable part 12 and the operating movable part 13 will be further described with reference to Figures 5 and 6. Figure 5 is a first top view showing the operation of the stacking movable part 12 and the operating movable part 13. Figure 5 shows the positions of the stacking movable part 12 and the operating movable part 13 as time T progresses.

[0042] The electrode stacking apparatus 1 shown in the upper part of the figure indicates the positions of the transport unit 22, the stacking movable unit 12, and the operating movable unit 13 at time T=T11. At time T=T11, the four transport units 22 are moving in the transport direction, holding the ends of the electrodes M1. The four stacking movable units 12 are in a waiting state along the respective transport directions of the two rails 21. The four operating movable units 13 are also waiting along the planned paths of the respective operations of the stacking movable units 12.

[0043] The electrode stacking apparatus 1 shown in the middle of Figure 5 illustrates the operation of the stacking movable part 12 and the operating movable part 13 at time T=T12, after time T=T11. For ease of understanding, the transport unit 22 that transports the electrodes M1 is omitted. At time T=T12, the stacking movable part 12 is moving in the transport direction in accordance with the movement of the electrodes M1. The stacking movable part 12 is in a position just before contacting the operating movable part 13. The operating movable part 13 is waiting in the planned path for each operation of the stacking movable part 12.

[0044] The electrode stacking apparatus 1 shown in the lower part of Figure 5 illustrates the operation of the stacking movable part 12 and the operating movable part 13 at time T=T13, after time T=T12. Here, the stacking movable part 12 is in contact with the operating movable part 13, and the electrode holding part 123 is in the open state. Therefore, after time T=T13, the stacking movable part 12 receives a new electrode M1 from the transport device 20.

[0045] Next, Figure 6 will be explained. Figure 6 is a second top view showing the operation of the stacking movable part 12 and the operating movable part 13. Figure 6 shows the operation of the electrode stacking apparatus 1 when the electrode M1 is tilted around the vertical axis (around the Z axis). Figure 6 shows the positions of the stacking movable part 12 and the operating movable part 13 as time T progresses.

[0046] The electrode stacking apparatus 1 shown in the upper part of the figure indicates the positions of the transport unit 22, the stacking movable unit 12, and the operating movable unit 13 at time T=T21. At time T=T21, the four transport units 22 are moving in the transport direction while holding the ends of the electrodes M1. However, the electrodes M1 shown in Figure 6 have an inclination of angle θ around the vertical axis.

[0047] The electrode stacking apparatus 1 shown in the middle section of Figure 6 illustrates the operation of the stacking movable part 12 and the operating movable part 13 at time T=T22, after time T=T21. At time T=T22, the stacking movable part 12 is moving in the transport direction in accordance with the movement of the electrode M1. At this time, the stacking movable part 12 is in a position with an angle θ tilt around the vertical axis in accordance with the inclination of the electrode M1. The positions of the four stacking movable parts 12 are also adjusted to match the position of the outer shape of the electrode M1. The stacking movable part 12 is in a position just before contacting the operating movable part 13. The operating movable part 13 is waiting in the planned path of each movement of the stacking movable part 12. However, the operating movable part 13 is also in a state with an angle θ tilt around the vertical axis in accordance with the position of the stacking movable part 12.

[0048] The electrode stacking apparatus 1 shown in the lower part of Figure 5 illustrates the operation of the stacking movable part 12 and the operating movable part 13 at time T=T23, after time T=T22. The stacking movable part 12 is in contact with the operating movable part 13, causing the electrode holding part 123 to be in an open state.

[0049] Between time T=T22 and time T=T23, the four stacking movable parts 12 move in the transport direction while maintaining an inclination of angle θ corresponding to the inclination of the electrode M1. At this time, the operating movable part 13 moves in a direction perpendicular to the transport direction, corresponding to the position of the stacking movable parts 12. In the example in Figure 6, the operating movable part 13 moves in the X-axis positive direction to maintain contact between the drive mechanism 124's drive element and the operating part 132, in response to the movement of the stacking movable parts 12, which move in the Y-axis positive direction while maintaining an inclination of angle θ around the vertical axis.

[0050] As the stacking movable part 12 and the operating movable part 13 perform the operations described above, the electrode stacking apparatus 1 can suitably stack new electrodes M1 even when the electrodes M1 are tilted. Specifically, the control unit 40 calculates the position and tilt of the electrodes M1 from the image data and controls the position and tilt of the stacking movable part 12 and the operating movable part 13 according to the calculation results.

[0051] As described above, in the electrode stacking apparatus 1, the control unit 40 sets the inclination of the stacking movable part 12 according to the inclination of the electrode M1 around its vertical axis, based on image data of the orientation of the electrode M1 taken from above the stator 11. Furthermore, the control unit 40 controls the displacement of the operating movable part 13 in a direction perpendicular to the transport path according to the position and inclination of the stacking movable part 12.

[0052] With the above configuration, the electrode stacking apparatus 1 can reduce the area of ​​waste in the electrodes to be stacked. In other words, the electrode stacking apparatus 1 efficiently stacks sheet-shaped electrodes by suppressing misalignment of the newly stacked electrode M1. Furthermore, with the above configuration, the electrode stacking apparatus 1 can transport and stack sheet-shaped electrodes in a smaller area compared to the conventional method of transporting sheet-shaped electrodes using a pallet. Moreover, with the above configuration, even if the size of the sheet-shaped electrodes changes, the electrode stacking apparatus 1 can flexibly adapt to the stacking process by changing the position settings of the transport section 22 and the stacking movable section 12.

[0053] As described above, the electrode stacking apparatus 1 according to this embodiment can suitably stack multiple sheet-shaped electrodes in a continuous manner by sequentially supplying sheet-shaped electrodes to the transport device 20. In other words, according to this embodiment, an electrode stacking apparatus that suitably stacks sheet-shaped electrodes can be provided.

[0054] The programs of this disclosure, when loaded into a computer, include a set of instructions (or software code) for causing the computer to perform one or more of the functions described in the embodiments. The programs may be stored on non-temporary computer-readable media or tangible storage media. Examples, but not limited to, include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disc storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices. The programs may be transmitted over temporary computer-readable media or communication media. Examples, but not limited to, include temporary computer-readable media or communication media including electrically, optically, acoustically, or otherwise propagating signals.

[0055] However, the present invention is not limited by the foregoing. Various modifications to the structure and details of the present invention can be made as can be understood by those skilled in the art within the scope of the invention. [Explanation of Symbols]

[0056] 1. Electrode stacking apparatus 10 Planar motors 11 stata 12. Movable parts for stacking 13 Movable part for operation 14 coils 20 Conveying device 21 rails 22 Conveying section 23. Hanging clamp 24. Suspension base 30 Cameras 40 Control Unit 121 1st mover 122 base 123 Electrode holding part 124 Drive mechanism 125 First Lever 126 Second Lever 131 Second mover 132 Operation section 133 First Cam 134 Second Cam F1 Main Surface M1 electrode

Claims

1. A main surface installed horizontally, and a stator having a plurality of coils below the main surface, A stacking movable part having a first movable element that is magnetically levitated and movable above the main surface, a base installed on the upper part of the first movable element, an electrode holding part that presses down on a sheet-like electrode supplied to the upper surface of the base from above, and a drive mechanism that drives the electrode holding part when it receives an external force, An operating movable part having a second movable element that can move above the main surface, and an operating part that is fixed to the second movable element and operates the drive mechanism by contacting the drive mechanism, A control unit that controls the operation of the stacking movable part and the operating movable part by setting the current flowing through the coil, Equipped with Electrode stacking apparatus.

2. The operating part of the movable part for operation has a cam that contacts the drive mechanism, The drive mechanism of the stacking movable part has a drive element that contacts and is driven by the cam, The electrode holder has a structure that switches between a holding state in which the electrode is pressed from above in accordance with the movement of the drive, and an open state in which a new electrode can be received from above. The electrode stacking apparatus according to claim 1.

3. The transport device further comprises a transport device that holds and transports the electrodes along a transport path set at least above the stator, and supplies the electrodes to the stacking movable part that moves along the transport path. The electrode stacking apparatus according to claim 1 or 2.

4. The control unit moves the stacking movable part in accordance with the transport device that transports the electrodes along the transport path, and controls the position of the operating movable part so that the electrode holding part is in an open state when the transport device drops the electrodes. The electrode stacking apparatus according to claim 3.

5. The control unit sets the inclination of the stacking movable part according to the inclination of the electrode around the vertical axis, based on image data of the orientation of the electrode taken from above the stator, and controls the displacement of the operating movable part in a direction perpendicular to the transport path according to the position and inclination of the stacking movable part. The electrode stacking apparatus according to claim 4.

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