Laminating device and laminating system

Abstract

A laminating device 100 comprises: a lamination stage 10 having a lamination surface 10a and provided to laminate an object 1 for lamination on the lamination surface 10a; a correction mechanism 20 that can move the lamination stage 10 in a direction parallel to the lamination surface 10a; a drive mechanism 30 that can move the lamination stage 10 in a direction orthogonal to the lamination surface 10a; and a translation mechanism 40 that connects the lamination stage 10 and the correction mechanism 20, and allows for freedom of movement in the direction orthogonal to the lamination surface 10a but restricts movement in the direction parallel to the lamination surface 10a. The drive mechanism 30 includes a body part 31 disposed in a position not overlapping the lamination stage 10 in the direction orthogonal to the lamination surface 10a, and an arm 32 extending from the body part 31 between the lamination stage 10 and the correction mechanism 20, and supporting the lamination stage 10, the arm 32 being configured to be movable in the direction orthogonal to the lamination surface 10a.

Description

Lamination device and lamination system

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

[0002] 2. Description of the Related Art Conventionally, stacking devices that stack objects to be stacked on a stacking stage are known.

[0003] As one such lamination device, Patent Document 1 discloses a modeling device that laminates material layers transported by a transfer body onto a lamination stage. The modeling device described in Patent Document 1 is configured to detect the position of the material layer on the transfer body, measure the amount of misalignment of the material layer, and correct the position of the lamination stage using a stage correction mechanism disposed vertically below the lamination stage based on the measured amount of misalignment.

[0004] Furthermore, in the modeling apparatus described in Patent Document 1, a stage up / down mechanism is disposed vertically below the stage correction mechanism. The stage up / down mechanism is configured to be able to adjust the vertical position of the stacking stage by raising and lowering the stacking stage together with the stage correction mechanism.

[0005] Japanese Patent Application Laid-Open No. 2017-47679

[0006] However, in the molding device described in Patent Document 1, when the stacking stage is raised and lowered, the stage correction mechanism is also raised and lowered, which requires a larger driving force than a configuration in which only the stacking stage is raised and lowered, and the stage raising and lowering mechanism becomes larger.

[0007] The present invention solves the above-mentioned problems and aims to provide a stacking device that can miniaturize a drive mechanism that can move a stacking stage in a direction perpendicular to the stacking surface, and a stacking system that includes such a stacking device.

[0008] The stacking device of the present invention comprises: a stacking stage having a stacking surface for stacking stacking objects on the stacking surface; a correction mechanism capable of moving the stacking stage in a direction parallel to the stacking surface; a drive mechanism capable of moving the stacking stage in a direction perpendicular to the stacking surface; and a linear motion mechanism connecting the stacking stage and the correction mechanism, which has freedom of movement in a direction perpendicular to the stacking surface but constrains movement in a direction parallel to the stacking surface; wherein the drive mechanism comprises a main body portion arranged at a position that does not overlap with the stacking stage in the direction perpendicular to the stacking surface, and an arm portion extending from the main body portion between the stacking stage and the correction mechanism to support the stacking stage and configured to be able to move in a direction perpendicular to the stacking surface.

[0009] The stacking system of the present invention comprises: a plurality of supply mechanisms that supply the stacking object to each of a plurality of supply positions; and a movement mechanism that comprises a stator of a linear motor having a predetermined running track and a movable element of the linear motor that can move between the plurality of supply positions along the running track, wherein the movable element comprises the stacking device.

[0010] According to the stacking device of the present invention, the arm of the drive mechanism extends from the main body, which is positioned so as not to overlap with the stacking stage in a direction perpendicular to the stacking surface of the stacking stage, between the stacking stage and the correction mechanism to support the stacking stage and is configured to be movable in a direction perpendicular to the stacking surface. Therefore, by moving the arm in a direction perpendicular to the stacking surface, the stacking stage can be moved in a direction perpendicular to the stacking surface independently of the correction mechanism. This allows the drive mechanism to be made smaller than in a configuration in which the stacking stage and the correction mechanism are driven together.

[0011] According to the stacking system of the present invention, the stacking system includes a plurality of supply mechanisms for supplying stacking objects, and a moving mechanism, and the moving mechanism includes the stacking device described above as a mover. This allows the mover to be miniaturized, and the stacking system to be miniaturized.

[0012] FIG. 1 is a side view schematically showing the configuration of a stacking device in one embodiment; FIG. 2 is a plan view for explaining the movement direction of a stacking stage moved by a correction mechanism; FIG. 3 is a plan view schematically showing the configuration of a support plate; FIG. 4 is a plan view schematically showing the configuration of a stacking system including a stacking device in one embodiment; and FIG. 5 is a view schematically showing the configuration of a mover of a movement mechanism when viewed in a direction along the running track of a stator.

[0013] The features of the present invention will be specifically described below by showing embodiments of the present invention.

[0014] 1 is a side view schematically illustrating the configuration of a stacking device 100 according to one embodiment. The stacking device 100 according to the one embodiment includes a stacking stage 10, a correction mechanism 20, a drive mechanism 30, and a linear motion mechanism 40.

[0015] The stacking stage 10 has a stacking surface 10a and is a stage for stacking stacked objects 1 on the stacking surface 10a. The stacking stage 10 is made of, for example, ceramic or a metal plate, preferably aluminum, which is highly rigid and lightweight. The stacking surface 10a may have any shape. For example, the stacking surface 10a has a rectangular shape when viewed in a direction perpendicular to the stacking surface 10a. In FIG. 1 , the direction perpendicular to the stacking surface 10a is the Z-axis direction, and the direction parallel to the stacking surface 10a is parallel to the X-axis direction and the Y-axis direction. In this specification, the direction perpendicular to the stacking surface 10a of the stacking stage 10 may be referred to as the Z-axis direction. As shown in FIG. 1 , when the direction parallel to the stacking surface 10a is the horizontal direction, the direction perpendicular to the stacking surface 10a is the vertical direction. Note that any two of the X-axis, Y-axis, and Z-axis are orthogonal to each other.

[0016] The lamination objects 1 to be laminated on the lamination stage 10 have, for example, a sheet-like shape. However, the lamination objects 1 are not limited to being sheet-like. The lamination objects 1 are laminated in order on the lamination surface 10a of the lamination stage 10. As an example, the lamination objects 1 are laminated on the lamination stage 10 by a holder that holds the lamination objects 1. The lamination device 100 may be provided with such a holder.

[0017] The correction mechanism 20 can move the stacking stage 10 in a direction parallel to the stacking surface 10a in order to suppress misalignment of the stacking objects 1 stacked on the stacking surface 10a of the stacking stage 10. Fig. 2 is a plan view illustrating the movement direction of the stacking stage 10 moved by the correction mechanism 20. As an example, as shown in Fig. 2, the correction mechanism 20 can move the stacking stage 10 in the X-axis direction, the Y-axis direction, and the θ direction, which is the rotation direction around the center of the stacking stage 10.

[0018] In this embodiment, as shown in Fig. 1, the correction mechanism 20 is disposed on the opposite side of the stacking surface 10a with respect to the stacking stage 10, and at least a portion of the correction mechanism 20 overlaps with the stacking stage 10 in a direction perpendicular to the stacking surface 10a. As shown in Fig. 1, the stacking stage 10 and the correction mechanism 20 are not in direct contact. There may be a space between the stacking stage 10 and the correction mechanism 20, or another member may be disposed between them.

[0019] The linear motion mechanism 40 connects the stacking stage 10 and the correction mechanism 20, and allows the stacking stage 10 to move freely in a direction perpendicular to the stacking surface 10a, but restricts movement in a direction parallel to the stacking surface 10a. The linear motion mechanism 40 is, for example, a linear shaft. The connection between the stacking stage 10 and the correction mechanism 20 by the linear motion mechanism 40 makes it possible to move only the stacking stage 10 in the direction perpendicular to the stacking surface 10a, independently of the correction mechanism 20.

[0020] Furthermore, since the stacking stage 10 and the correction mechanism 20 are connected by a linear motion mechanism 40, the correction mechanism 20 can move the stacking stage 10 with high precision in a direction parallel to the stacking surface 10a. For example, the correction mechanism 20 can be configured to include a UVW stage that is movable in the X-axis direction, the Y-axis direction, and the θ-axis direction, and the UVW stage and the stacking stage 10 are connected by the linear motion mechanism 40. In this case, when the UVW stage of the correction mechanism 20 moves in the X-axis direction, the stacking stage 10 moves the same amount in the X-axis direction; when the UVW stage moves in the Y-axis direction, the stacking stage 10 moves the same amount in the Y-axis direction; and when the UVW stage moves in the θ-axis direction, the stacking stage 10 moves the same amount in the θ-axis direction. However, instead of a single UVW stage, the correction mechanism 20 may be configured to include an XYθ stage including three stages that can move in the X-axis direction, the Y-axis direction, and the θ-axis direction, respectively.

[0021] The stacking device 100 may include an elastic member 50 that connects the stacking stage 10 and the correction mechanism 20 and applies a force to the stacking stage 10 in a direction that moves it closer to the correction mechanism 20. The elastic member 50 is, for example, a spring. By including the elastic member 50 in the stacking device 100, the stacking stage 10 is pressed against an arm unit 32 of the drive mechanism 30, which will be described later. Therefore, as will be described later, when the stacking stage 10 is moved by the arm unit 32 in a direction perpendicular to the stacking surface 10a, it can be moved stably.

[0022] The drive mechanism 30 can move the stacking stage 10 in a direction perpendicular to the stacking surface 10a. The drive mechanism 30 includes a main body 31 arranged in a position that does not overlap the stacking stage 10 in the direction perpendicular to the stacking surface 10a of the stacking stage 10, and an arm 32 that extends from the main body 31 between the stacking stage 10 and the correction mechanism 20 to support the stacking stage 10 and be movable in a direction perpendicular to the stacking surface 10a. Note that the main body 31 of the drive mechanism 30 being "arranged in a position that does not overlap the stacking stage 10" means that the correction mechanism 20 is not supporting the weight of the main body 31. The drive mechanism 30 may further include a motor 35 for moving the arm 32 in a direction perpendicular to the stacking surface 10a of the stacking stage 10.

[0023] The main body 31 of the drive mechanism 30 has a shape extending in the Z-axis direction. One end of the arm 32 is attached to the main body 31 so as to be movable in the Z-axis direction along the main body 31, which has a shape extending in the Z-axis direction, and the other end is located between the stacking stage 10 and the correction mechanism 20.

[0024] In this embodiment, the arm unit 32 may be connected to the base unit 60, which is not moved by the correction mechanism 20, via a linear motion mechanism 41. The linear motion mechanism 41 is, for example, a linear shaft. The arm unit 32 is configured to be movable in the Z-axis direction along the main body unit 31, for example, by using a mechanism similar to that of a ball screw, in which a nut attached to a screw shaft moves along the screw shaft. That is, the main body unit 31, which has a shape extending in the Z-axis direction, corresponds to the screw shaft of the ball screw, and the part of the arm unit 32 attached to the main body unit 31 corresponds to the nut of the ball screw. When using this mechanism similar to that of a ball screw, it is preferable that the arm unit 32 and the linear motion mechanism 41 are not fixed by the correction mechanism 20 so that their positions are not changed by the correction mechanism 20. The driving force of the motor 35 rotates the main body unit 31 about a rotation axis parallel to the Z-axis, thereby moving the arm unit 32 in the Z-axis direction. However, the configuration in which the arm unit 32 moves in a direction perpendicular to the stacking surface 10a of the stacking stage 10 is not limited to the above-described configuration.

[0025] The driving mechanism 30 may further include a support plate 33 for supporting the stacking stage 10. The support plate 33 is attached to the arm portion 32. The support plate 33 has a support surface 33a that contacts the stacking stage 10 over a wider area than when the stacking stage 10 is supported by the arm portion 32 alone. Therefore, by including the support plate 33 in the driving mechanism 30, the stacking stage 10 can be more stably supported by the support plate 33, and the stacking stage 10 can be more stably moved in the direction perpendicular to the stacking surface 10a.

[0026] The support surface 33a of the support plate 33 preferably has slidability relative to the stacking stage 10. Fig. 3 is a plan view schematically showing the configuration of the support plate 33. In the example shown in Fig. 3, a material having slidability, for example, a plurality of resins 34 having slidability, are arranged on the support surface 33a of the support plate 33. As the resin 34 having slidability, for example, Teflon (registered trademark) or ultra-high molecular weight polyethylene can be used.

[0027] As described above, the arm unit 32 of the drive mechanism 30 can move in a direction perpendicular to the stacking surface 10a of the stacking stage 10. When the arm unit 32 moves in a direction perpendicular to the stacking surface 10a, the support plate 33 attached to the arm unit 32 also moves integrally with the arm unit 32. As a result, the stacking stage 10 supported by the support plate 33 also moves in a direction perpendicular to the stacking surface 10a. In other words, by moving the arm unit 32 of the drive mechanism 30 in a direction perpendicular to the stacking surface 10a, the stacking stage 10 can be moved in a direction perpendicular to the stacking surface 10a. The arm unit 32 extends from the main body unit 31 between the stacking stage 10 and the correction mechanism 20 to support the stacking stage 10, so that only the stacking stage 10 can be moved in a direction perpendicular to the stacking surface 10a. In other words, the movement of the arm unit 32 does not move the correction mechanism 20.

[0028] As described above, in the stacking device 100 of this embodiment, the drive mechanism 30 can move only the stacking stage 10 in a direction perpendicular to the stacking surface 10a, so the drive mechanism 30 can be made smaller than in a configuration in which the stacking stage 10 and the correction mechanism 20 are moved together. For example, if the drive mechanism 30 is equipped with a motor 35 and is configured to move the arm unit 32 by the driving force of the motor 35, thereby moving the stacking stage 10, the motor 35 can be made smaller.

[0029] In addition, since the main body 31 of the driving mechanism 30 is positioned at a position that does not overlap with the stacking stage 10 in a direction perpendicular to the stacking surface 10a of the stacking stage 10, design freedom is improved compared to a configuration in which it is positioned at a position that overlaps with the stacking stage 10.

[0030] Furthermore, if the drive mechanism 30 includes a support plate 33, and the support surface 33a of the support plate 33 is configured to be slidable relative to the stacking stage 10, the movement of the stacking stage 10 by the correction mechanism 20 and the movement of the stacking stage 10 by the drive mechanism 30 can be performed in parallel. That is, because the support surface 33a of the support plate 33 is slidable relative to the stacking stage 10, the stacking stage 10 can be moved in a direction parallel to the stacking surface 10a by the correction mechanism 20 even when supported by the support plate 33. Therefore, the movement of the stacking stage 10 in a direction parallel to the stacking surface 10a by the correction mechanism 20 and the movement of the stacking stage 10 in a direction perpendicular to the stacking surface 10a by the drive mechanism 30 can be performed simultaneously, thereby allowing the position correction of the stacking stage 10 to be performed in a short time. This reduces the time required to stack the stacking objects 1 on the stacking stage 10.

[0031] (Stacking System) Next, a configuration of a stacking system 200 including the stacking device 100 in the above-described embodiment will be described.

[0032] 4 is a plan view schematically showing the configuration of a stacking system 200 including the stacking device 100 in one embodiment. The stacking system 200 includes a plurality of supply mechanisms 210 and a movement mechanism 220. The stacking system 200 may further include a control unit that controls the operation of the plurality of supply mechanisms 210 and the movement mechanism 220. The stacking device 100 is included in the movement mechanism 220, as will be described later. Here, an example will be described in which the stacking object 1 is a sheet-shaped battery material. However, the stacking object 1 is not limited to a sheet-shaped battery material.

[0033] The plurality of supply mechanisms 210 supply the stacking objects 1 to each of the plurality of supply positions A1 to A4. One type of stacking object 1 is supplied to each of the plurality of supply positions A1 to A4. In this embodiment, the plurality of supply mechanisms 210 include four supply mechanisms: a first supply mechanism 210a, a second supply mechanism 210b, a third supply mechanism 210c, and a fourth supply mechanism 210d. However, the number of the plurality of supply mechanisms 210 is not limited to four.

[0034] The first supply mechanism 210a supplies the lamination object 1 to the first supply position A1. The lamination object 1 supplied by the first supply mechanism 210a is, for example, a resin film. The resin film is a sheet-like battery material that functions as a separator and is made of, for example, polyethylene. In this embodiment, the first supply mechanism 210a is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the first supply position A1.

[0035] The second supply mechanism 210b supplies the lamination object 1 to the second supply position A2. The lamination object 1 supplied by the second supply mechanism 210b is, for example, a first metal foil. The first metal foil is a sheet-like battery material that functions as one of the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the second supply mechanism 210b is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the second supply position A2.

[0036] The third supply mechanism 210c supplies the lamination object 1 to the third supply position A3. The lamination object 1 supplied by the third supply mechanism 210c is, for example, a resin film. The resin film is a sheet-like battery material that functions as a separator and is made of, for example, polyethylene. The resin film supplied by the third supply mechanism 210c may be the same as the resin film supplied by the first supply mechanism 210a. However, a resin film different from the resin film supplied by the first supply mechanism 210a may also be used. In this embodiment, the third supply mechanism 210c is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the third supply position A3.

[0037] The fourth supply mechanism 210d supplies the lamination object 1 to the fourth supply position A4. The lamination object 1 supplied by the fourth supply mechanism 210d is, for example, a second metal foil. The second metal foil is a sheet-like battery material that functions as the other of the positive and negative electrodes, and is made of, for example, aluminum. In this embodiment, the fourth supply mechanism 210d is a belt conveyor that transports and supplies the lamination object 1 placed on the belt to the fourth supply position A4.

[0038] In addition, the first supply mechanism 210a, the second supply mechanism 210b, the third supply mechanism 210c, and the fourth supply mechanism 210d are not limited to belt conveyors, but may be any structure that can transport the stacked object 1 and supply it to the supply position.

[0039] Furthermore, the supply mechanism 210 may be configured to transport a long stacking object 1 instead of transporting the individual stacking objects 1. In this case, the long stacking object 1 may be cut at the supply positions A1 to A4 to be individualized. In this embodiment, the shape of the stacking object 1 is rectangular, but it may be a shape other than rectangular.

[0040] The movement mechanism 220 includes a linear motor stator 221 having a predetermined running track, and a linear motor mover 222 that can move along the running track between a plurality of supply positions A1 to A4. In this embodiment, the running track of the stator 221 has an elliptical ring shape in a plan view, as shown in Fig. 4. However, the shape of the running track in a plan view is not limited to an elliptical ring shape.

[0041] In this embodiment, the movers 222 include a first mover 222a, a second mover 222b, a third mover 222c, a fourth mover 222d, a fifth mover 222e, a sixth mover 222f, a seventh mover 222g, and an eighth mover 222h. Each of the movers 222a to 222h can move independently. By including multiple movers 222a to 222h in the moving mechanism 220, the stacking object 1 can be transported and stacked efficiently in a short time.

[0042] Fig. 5 is a diagram schematically illustrating the configuration of the mover 222 of the movement mechanism 220 when viewed in a direction along the running track of the stator 221. As shown in Fig. 5, the mover 222 includes the stacking device 100 in one embodiment and a holding unit 230. In Fig. 5, the X-axis direction is the direction in which the supply mechanism 210 transports the stacking object 1, and the Y-axis direction is the direction in which the mover 222 moves along the running track. The Z-axis direction is the vertical direction.

[0043] The holding unit 230 holds the stacking object 1 transported by the supply mechanism 210. The holding unit 230 is movable in the Z-axis direction. In this embodiment, the holding unit 230 approaches the stacking object 1 from above by descending, and adsorbs and holds the stacking object 1 by suction. However, the method by which the holding unit 230 holds the stacking object 1 is not limited to adsorption.

[0044] The holder 230 holding the stacking object 1 descends toward the stacking stage 10. In this embodiment, as will be described later, while the mover 222 moves along the travel path of the stator 221, the holder 230 descends a predetermined amount to release the suction of the stacking object 1 and stack the stacking object 1 on the stacking stage 10. Because the holder 230 is configured to descend a predetermined amount, the configuration of the holder 230 can be simplified compared to a case where the amount of descent of the holder 230 is adjusted according to the number of stacking objects 1 stacked on the stacking stage 10. However, when stacking objects 1 are stacked on the stacking stage 10, "stacking the stacking object 1 on the stacking stage 10" means stacking the stacking object 1 on top of the stacking objects 1 already stacked on the stacking stage 10.

[0045] Before the stacking objects 1 are stacked on the stacking stage 10 by the holding unit 230, the correction mechanism 20 performs positional deviation correction by moving the stacking stage 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking stage 10 in the Z-axis direction according to the number of stacked objects 1 on the stacking stage 10. A detailed method of positional deviation correction by the correction mechanism 20 will be described later.

[0046] When one stacking object 1 is stacked on the stacking stage 10, the drive mechanism 30 lowers the stacking stage 10 by the thickness of the stacked stacking object 1. As a result, even in a configuration in which the holding unit 230 holding the stacking object 1 is lowered by a predetermined amount to stack the stacking object 1 on the stacking stage 10, the stacking objects 1 can be stacked in order on the stacking stage 10.

[0047] In this embodiment, as shown in Fig. 5, the mover 222 is attached to two guide rails 223 of the stator 221 that form a travel track, and moves along the guide rails 223. As shown in Fig. 5, the guide rails 223 of the stator 221 are provided to the side of the mover 222, rather than vertically below the mover 222. In a structure in which the guide rails 223 are provided vertically below the mover 222, control must be performed taking into account the inner wheel difference between the two guide rails 223, but in a structure in which the guide rails are provided to the side, there is no need to consider the inner wheel difference, and control is simplified.

[0048] The stacking system 200 in this embodiment further includes an imaging device 240 that captures an image of the stacking object 1 supplied by the supply mechanism 210. The imaging device 240 is provided vertically above the stacking object 1 at the supply positions A1 to A4, and captures an image of the stacking object 1 that has been supplied to the supply positions A1 to A4 by the supply mechanism 210 and is in a stopped state.

[0049] The imaging device 240 captures an image of the stacked object 1 in order to grasp the position and orientation of the stacked object 1. For example, if the imaging device 240 captures an image of the stacked object 1, which has a rectangular shape, and the positions of the corners of the stacked object 1 can be grasped, the position and orientation of the stacked object 1 can be grasped.

[0050] In Figure 5, it appears that part of the movable element 222 is present in the optical path when the imaging device 240 captures an image, but for example, a notch is provided in the movable element 222 so that the stacked object 1 at the supply position can be captured.

[0051] In this embodiment, there are four supply positions A1 to A4 for the stacking objects 1 in order to supply four types of stacking objects 1. Therefore, four imaging devices 240 are provided corresponding to the four supply positions A1 to A4. Specifically, a first imaging device 240a is provided vertically above the first supply position A1, a second imaging device 240b is provided vertically above the second supply position A2, a third imaging device 240c is provided vertically above the third supply position A3, and a fourth imaging device 240d is provided vertically above the fourth supply position A4.

[0052] The correction mechanism 20 corrects the relative position of the stacking stage 10 with respect to the stacking object 1 by moving the stacking stage 10 in a direction parallel to the stacking surface 10a based on the image of the stacking object 1 captured by the imaging device 240. This makes it possible to obtain a stack in which positional deviation of the stacking object 1 is suppressed when stacking the stacking object 1 on the stacking stage 10. However, the method of correcting the relative position of the stacking stage 10 with respect to the stacking object 1 is not limited to the method based on the image of the stacking object 1.

[0053] The following describes a method for sequentially stacking four types of stacking objects 1 using a stacking system 200 including a stacking device 100 according to one embodiment. Here, the operation of the first mover 222a of the eight movers 222 stacking the stacking objects 1 will be described, but the operations of the other movers 222b to 222h stacking the stacking objects 1 are similar. That is, if the time it takes for the first movable element 222a to complete one revolution around the running orbit of the stator 221 is T, then the eighth movable element 222h operates with a delay of T / 8, the seventh movable element 222g with a delay of (2T) / 8, the sixth movable element 222f with a delay of (3T) / 8, the fifth movable element 222e with a delay of (4T) / 8, the fourth movable element 222d with a delay of (5T) / 8, the third movable element 222c with a delay of (6T) / 8, and the second movable element 222b with a delay of (7T) / 8, and they all operate in the same manner as the first movable element 222a.

[0054] Here, the stacking system 200 will be described as having a control unit that controls the operations of the plurality of supply mechanisms 210 and the plurality of movement mechanisms 220 .

[0055] (S1) The control unit controls the first supply mechanism 210a to supply the resin film, which is the stacking object 1, to the first supply position A1, and stops the first movable element 222a at the first supply position A1. The control unit also controls the first imaging device 240a to capture an image of the stacking object 1 stopped at the first supply position A1. After the first imaging device 240a captures the image of the stacking object 1, the control unit lowers the holding unit 230 to hold the stacking object 1 at the first supply position A1.

[0056] When the first movable element 222a is stopped at the first supply position A1, the third movable element 222c is stopped at the second supply position A2, the fifth movable element 222e is stopped at the third supply position A3, and the seventh movable element 222g is stopped at the fourth supply position A4. As will be described later, the third movable element 222c, the fifth movable element 222e, and the seventh movable element 222g, like the first movable element 222a, each hold the stacking object 1 supplied at each of the supply positions A1 to A4 by the holding unit 230, and stack the object 1 on the stacking stage 10 while moving to and stopping at the next supply position A1 to A4.

[0057] Furthermore, when the first movable element 222a is stopped at the first supply position A1, the second movable element 222b is located between the first supply position A1 and the second supply position A2, the fourth movable element 222d is located between the second supply position A2 and the third supply position A3, the sixth movable element 222f is located between the third supply position A3 and the fourth supply position A4, and the eighth movable element 222h is located between the fourth supply position A4 and the first supply position A1. As will be described later, the second movable element 222b, the fourth movable element 222d, the sixth movable element 222f, and the eighth movable element 222h each perform stacking by correcting the relative position of the stacking stage 10 with respect to the stacking object 1 while moving to and stopping at the next supply position A1 to A4.

[0058] (S2) Next, the control unit moves the first mover 222a along the travel path from the first supply position A1 to the second supply position A2. While the first mover 222a moves from the first supply position A1 to the second supply position A2 and stops, the correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a. Specifically, the correction mechanism 20 corrects the relative position of the stacking stage 10 with respect to the stacking object 1 supplied to the first supply position A1 by moving the stacking stage 10 in a direction parallel to the stacking surface 10a based on the image of the stacking object 1 captured by the first imaging device 240a. Furthermore, the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a depending on the number of stacked objects 1 stacked on the stacking stage 10. The movement of the stacking stage 10 by the correction mechanism 20 and the movement of the stacking stage 10 by the drive mechanism 30 may be performed simultaneously or at different times.

[0059] Thereafter, the control unit lowers the holding unit 230 by a predetermined amount, and then releases the holding unit 230 from suction of the stacking object 1. As a result, the stacking object 1 is stacked on the stacking stage 10.

[0060] In addition, the control unit not only moves the first movable element 222a from the first supply position A1 to the second supply position A2, but also moves the third movable element 222c from the second supply position A2 to the third supply position A3, moves the fifth movable element 222e from the third supply position A3 to the fourth supply position A4, moves the seventh movable element 222g from the fourth supply position A4 to the first supply position A1, and moves the second movable element 222b, the fourth movable element 222d, the sixth movable element 222f and the eighth movable element 222h.

[0061] (S3) Next, the control unit controls the second supply mechanism 210b to supply the first metal foil, which is the stacking object 1, to the second supply position A2, and stops the first movable element 222a at the second supply position A2. The control unit also controls the second imaging device 240b to capture an image of the stacking object 1 stopped at the second supply position A2. After the image of the stacking object 1 is captured by the second imaging device 240b, the control unit lowers the holding unit 230 to hold the stacking object 1 at the second supply position A2.

[0062] When the first movable element 222a is stopped at the second supply position A2, the third movable element 222c is stopped at the third supply position A3, the fifth movable element 222e is stopped at the fourth supply position A4, and the seventh movable element 222g is stopped at the first supply position A1. The second movable element 222b is located between the second supply position A2 and the third supply position A3, the fourth movable element 222d is located between the third supply position A3 and the fourth supply position A4, the sixth movable element 222f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable element 222h is located between the first supply position A1 and the second supply position A2.

[0063] (S4) Next, the control unit moves the first mover 222a along the travel path from the second supply position A2 to the third supply position A3. While the first mover 222a moves from the second supply position A2 to the third supply position A3 and stops, the correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a. Specifically, the correction mechanism 20 corrects the relative position of the stacking stage 10 with respect to the stacking object 1 supplied to the second supply position A2 by moving the stacking stage 10 in a direction parallel to the stacking surface 10a based on the image of the stacking object 1 captured by the second imaging device 240b. Furthermore, the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a depending on the number of stacked objects 1 stacked on the stacking stage 10. More specifically, the drive mechanism 30 lowers the stacking stage 10 by an amount corresponding to the thickness of the stacking object 1 newly stacked on the stacking stage 10. The operation of stacking the stacking object 1 on the stacking stage 10 after the position correction of the stacking stage 10 is the same as the operation of stacking the stacking object 1 supplied to the first supply position A1.

[0064] In addition, the control unit not only moves the first movable element 222a from the second supply position A2 to the third supply position A3, but also moves the third movable element 222c from the third supply position A3 to the fourth supply position A4, moves the fifth movable element 222e from the fourth supply position A4 to the first supply position A1, moves the seventh movable element 222g from the first supply position A1 to the second supply position A2, and moves the second movable element 222b, the fourth movable element 222d, the sixth movable element 222f, and the eighth movable element 222h.

[0065] (S5) Next, the control unit controls the third supply mechanism 210c to supply the resin film, which is the stacking object 1, to the third supply position A3, and stops the first movable element 222a at the third supply position A3. The control unit also controls the third imaging device 240c to capture an image of the stacking object 1 stopped at the third supply position A3. After the third imaging device 240c captures the image of the stacking object 1, the control unit lowers the holding unit 230 to hold the stacking object 1 at the third supply position A3.

[0066] When the first movable element 222a is stopped at the third supply position A3, the third movable element 222c is stopped at the fourth supply position A4, the fifth movable element 222e is stopped at the first supply position A1, and the seventh movable element 222g is stopped at the second supply position A2. The second movable element 222b is located between the third supply position A3 and the fourth supply position A4, the fourth movable element 222d is located between the fourth supply position A4 and the first supply position A1, the sixth movable element 222f is located between the first supply position A1 and the second supply position A2, and the eighth movable element 222h is located between the second supply position A2 and the third supply position A3.

[0067] (S6) Next, the control unit moves the first mover 222a along the travel path from the third supply position A3 to the fourth supply position A4. While the first mover 222a moves from the third supply position A3 to the fourth supply position A4 and stops, the correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a. Specifically, the correction mechanism 20 corrects the relative position of the stacking stage 10 with respect to the stacking object 1 supplied to the third supply position A3 by moving the stacking stage 10 in a direction parallel to the stacking surface 10a based on the image of the stacking object 1 captured by the third imaging device 240c. Furthermore, the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a depending on the number of stacked objects 1 stacked on the stacking stage 10. More specifically, the drive mechanism 30 lowers the stacking stage 10 by an amount corresponding to the thickness of the stacking object 1 newly stacked on the stacking stage 10. The operation of stacking the stacking object 1 on the stacking stage 10 after the position correction of the stacking stage 10 is the same as the operation of stacking the stacking object 1 supplied to the first supply position A1.

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

[0069] (S7) Next, the control unit controls the fourth supply mechanism 210d to supply the second metal foil, which is the stacking object 1, to the fourth supply position A4, and stops the first mover 222a at the fourth supply position A4. The control unit also controls the fourth imaging device 240d to capture an image of the stacking object 1 stopped at the fourth supply position A4. After the image of the stacking object 1 is captured by the fourth imaging device 240d, the control unit lowers the holding unit 230 to hold the stacking object 1 at the fourth supply position A4.

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

[0071] (S8) Next, the control unit moves the first mover 222a along the travel path from the fourth supply position A4 to the first supply position A1. While the first mover 222a moves from the fourth supply position A4 to the first supply position A1 and stops, the correction mechanism 20 moves the stacking stage 10 in a direction parallel to the stacking surface 10a, and the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a. Specifically, the correction mechanism 20 corrects the relative position of the stacking stage 10 with respect to the stacking object 1 supplied to the fourth supply position A4 by moving the stacking stage 10 in a direction parallel to the stacking surface 10a based on the image of the stacking object 1 captured by the fourth imaging device 240d. Furthermore, the drive mechanism 30 moves the stacking stage 10 in a direction perpendicular to the stacking surface 10a depending on the number of stacked objects 1 stacked on the stacking stage 10. More specifically, the drive mechanism 30 lowers the stacking stage 10 by an amount corresponding to the thickness of the stacking object 1 newly stacked on the stacking stage 10. The operation of stacking the stacking object 1 on the stacking stage 10 after the position correction of the stacking stage 10 is the same as the operation of stacking the stacking object 1 supplied to the first supply position A1.

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

[0073] The above-described steps (S1) to (S8) produce a set of semi-finished products in which four types of lamination objects 1, namely, a resin film, a first metal foil, a resin film, and a second metal foil, are laminated in this order. Thereafter, steps (S1) to (S8) are repeated to produce a predetermined number of laminated products, i.e., a laminate in which multiple positive electrodes and negative electrodes are alternately laminated with a resin film interposed therebetween that functions as a separator. The laminate is used, for example, as a constituent material for a battery pack.

[0074] According to the above-described stacking system 200, by including the stacking device 100 of one embodiment, the mover 222 of the moving mechanism 220 can be miniaturized, thereby reducing the force required to move the mover 222. Furthermore, the stacking objects 1 can be stacked with high precision. That is, if the above-described stacking system 200 were provided with a conventional large stacking device instead of the stacking device 100 of one embodiment, the mover 222 would be large, and a large force would be required to move the mover 222. Furthermore, in the above-described stacking system 200, since the mover 222 repeatedly moves and stops, if the stacking device becomes large, the inertia of the mover 222 would increase, causing vibration, which could reduce the stacking precision of the stacking objects 1. However, since the stacking device 100 of one embodiment can be miniaturized as described above, vibration of the mover 222 can be suppressed, and the stacking objects 1 can be stacked with high precision.

[0075] The present invention is not limited to the above-described embodiment, and various applications and modifications can be made within the scope of the present invention.

[0076] For example, the lamination object 1 is not limited to the sheet-like battery material described above. For example, a multilayer substrate can be produced by laminating a plurality of types of lamination objects 1, each of which is a sheet-like conductive layer and an insulating layer. In this case, the conductive layer is made of, for example, copper, silver, a copper-containing alloy, a silver-containing alloy, or a Sn—Ag solder, and the insulating layer is made of, for example, a thermoplastic resin such as a liquid crystal polymer, polyether ether ketone, polyetherimide, or polyimide, or a thermosetting resin such as an epoxy resin or unsaturated polyester.

[0077] In the above-described embodiment, the holding portion 230 is configured to approach the supply mechanism 210 by descending to hold the stacked object 1, but the supply mechanism 210 may also be configured to approach the holding portion 230 by rising.

[0078] The stacking device and stacking system in this application are as follows: <1>. A stacking device comprising: a stacking stage having a stacking surface for stacking stacking objects on the stacking surface; a correction mechanism capable of moving the stacking stage in a direction parallel to the stacking surface; a drive mechanism capable of moving the stacking stage in a direction perpendicular to the stacking surface; and a linear motion mechanism connecting the stacking stage and the correction mechanism, the linear motion mechanism having freedom of movement in the direction perpendicular to the stacking surface but restricting movement in a direction parallel to the stacking surface, wherein the drive mechanism comprises: a main body portion disposed in a position that does not overlap with the stacking stage in the direction perpendicular to the stacking surface; and an arm portion extending from the main body portion between the stacking stage and the correction mechanism to support the stacking stage and configured to be movable in the direction perpendicular to the stacking surface. <2>. The stacking device according to <1>, wherein the correction mechanism is disposed on the opposite side of the stacking surface with respect to the stacking stage, at least a portion of which overlaps with the stacking stage in the direction perpendicular to the stacking surface. <3>. The stacking device according to <1> or <2>, wherein the linear motion mechanism is a linear shaft. <4>. The stacking device according to any one of <1> to <3>, wherein the drive mechanism further includes a support plate for supporting the stacking stage, and the support plate is attached to the arm portion. <5>. The stacking device according to <4>, wherein a support surface of the support plate that contacts the stacking stage has sliding properties relative to the stacking stage. <6>. The stacking device according to any one of <1> to <5>, further including an elastic member that connects the stacking stage and the correction mechanism and applies a force to the stacking stage in a direction toward the correction mechanism. <7>. A stacking system comprising: a plurality of supply mechanisms that supply the stacking objects to a plurality of supply positions, respectively; and a movement mechanism including a stator of a linear motor having a predetermined travel track and a mover of the linear motor that can move between the plurality of supply positions along the travel track, wherein the mover is equipped with the stacking device according to any one of <1> to <6>.<8> The stacking system according to <7>, wherein the movement mechanism includes a plurality of the movers.

[0079] REFERENCE SIGNS LIST 1 object to be stacked 10 stacking stage 10a stacking surface 20 correction mechanism 30 drive mechanism 31 main body 32 arm 33 support plate 33a support surface 34 resin having slidability 35 motor 40 linear motion mechanism 41 linear motion mechanism 50 elastic member 60 base 100 stacking device 200 stacking system 210 supply mechanism 220 movement mechanism 221 stator 222 mover 223 guide rail 230 holding unit 240 imaging device

Claims

1. A lamination stage having a lamination surface for laminating objects on the lamination surface; a correction mechanism capable of moving the stacking stage in a direction parallel to the stacking surface; a drive mechanism capable of moving the stacking stage in a direction perpendicular to the stacking surface; a linear motion mechanism that connects the stacking stage and the correction mechanism and has a degree of freedom of movement in a direction perpendicular to the stacking surface but restricts movement in a direction parallel to the stacking surface; Equipped with The stacking device is characterized in that the driving mechanism comprises a main body portion arranged at a position that does not overlap with the stacking stage in a direction perpendicular to the stacking surface, and an arm portion extending from the main body portion between the stacking stage and the correction mechanism to support the stacking stage and be configured to move in a direction perpendicular to the stacking surface.

2. The stacking device according to claim 1, wherein the correction mechanism is arranged on the opposite side of the stacking surface with respect to the stacking stage, and at least a portion of the correction mechanism is arranged in a position overlapping with the stacking stage in a direction perpendicular to the stacking surface.

3. 2. The stacking device according to claim 1, wherein the linear motion mechanism is a linear shaft.

4. the drive mechanism further includes a support plate for supporting the stacking stage, 2. The stacking device according to claim 1, wherein the support plate is attached to the arm portion.

5. 5. The stacking device according to claim 4, wherein a support surface of the support plate that comes into contact with the stacking stage has a sliding property with respect to the stacking stage.

6. 2. The stacking device according to claim 1, further comprising an elastic member that connects the stacking stage and the correction mechanism and applies a force to the stacking stage in a direction toward the correction mechanism.

7. a plurality of supply mechanisms for supplying the stacking objects to a plurality of supply positions, respectively; a moving mechanism including a stator of a linear motor having a predetermined running track and a movable element of the linear motor capable of moving between the plurality of supply positions along the running track; A stacking system, wherein the mover comprises the stacking device according to claim 1 .

8. The stacking system according to claim 7 , wherein the moving mechanism includes a plurality of the movers.