Device for manufacturing power storage module and method for manufacturing power storage module

Abstract

A device (100) for manufacturing a power storage module comprises: a sensor (C4) that detects a third electrode unit (62) subject to conveyance; a sensor (C5) that detects the third electrode unit (62) subject to lamination; and an adjustment mechanism (G5). The sensor (C4) detects the third electrode unit (62) held by a hand part (H4), and the sensor (C5) detects the third electrode unit (62) placed on a stage (T5). The adjustment mechanism (G5) adjusts the relative position of the third electrode unit (62) by moving the stage (T5) on the basis of the detection result from the sensor (C4) and the detection result from the sensor (C5).

Description

Energy storage module manufacturing device and energy storage module manufacturing method

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

[0002] Patent Literature 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 longitudinally transports workpieces, such as positive electrodes, negative electrodes, and separators, which are components of the structure, 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 captures images of 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.

[0003] JP 2012-18776 A

[0004] In the above-mentioned Patent Document 1, it is said that the workpieces can be stacked accurately in the stacking section by correcting the orientation of the workpieces using the hand device while they are being transported by the hand device. However, when the workpieces become larger, the weight of the workpieces to be transported also increases, which increases the load on the hand device during transportation and may result in unstable accuracy in adjusting the position of the hand device.

[0005] 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 during stacking.

[0006] The energy storage module manufacturing apparatus according to the present disclosure includes a first device on which a first workpiece, which is a component of the energy storage module, is placed, a second device on which a second workpiece, which is a component of the energy storage module, is placed, a transport device that transports the first workpiece placed on the first device to the second device and stacks the first workpiece on the second workpiece placed on the second device along a first direction, a first sensor that detects the first workpiece, a second sensor that detects the second workpiece, and an adjustment mechanism that adjusts the position of the second workpiece relative to the first workpiece in the second device, and the transport device includes a hand unit that picks up and holds the first workpiece in the first device, and an adjustment mechanism that adjusts the position of the second workpiece relative to the first workpiece in the second device. a moving unit that transports a first workpiece to a predetermined position by moving a hand unit to a predetermined position on a second workpiece placed on a stage of the second device, wherein a first sensor detects the position of the first workpiece held by the hand unit relative to the hand unit, a second sensor detects the position of the second workpiece placed on the stage relative to the stage, and an adjustment mechanism is provided in the second device and adjusts the position of the second workpiece at the predetermined position relative to the first workpiece held by the hand unit by moving the stage based on the detection result of the first workpiece by the first sensor and the detection result of the second workpiece by the second sensor.

[0007] In this device, in a first device, which is the source of the first workpiece, a first sensor detects the position of the first workpiece, picked up and held by a hand unit, relative to the hand unit. In a second device, which is the destination of the first workpiece, a second sensor detects the position of the second workpiece, placed on a stage of the second device, relative to the stage. The stage is then moved based on the detection results of the first and second sensors, adjusting the relative position of the second workpiece relative to the first workpiece. This reduces misalignment of the workpieces during stacking. Generally, in a transport device that transports workpieces suspended by a hand unit or the like, the accuracy of position adjustment by the transport device decreases as the weight of the workpiece increases. In contrast, this device adjusts the position of the second workpiece relative to the first workpiece by moving the stage, thereby reliably reducing misalignment of the workpieces during stacking without being affected by the decrease in accuracy of position adjustment that occurs with an increase in the transport device's weight capacity.

[0008] In the energy storage module manufacturing apparatus according to the present disclosure, the second workpiece is rectangular when viewed from a first direction and includes a first edge and a second edge extending in directions that intersect each other, the second sensor detects the position of the second workpiece relative to the stage by detecting at least one point within the first edge and two points spaced apart within the second edge, and the adjustment mechanism may adjust the position of the second workpiece relative to the first workpiece by moving the stage in two intersecting directions within a plane that intersects with the first direction and rotating the stage within the plane that intersects with the first direction.

[0009] In the energy storage module manufacturing apparatus according to the present disclosure, the first workpiece may be rectangular when viewed from a first direction and include a third edge and a fourth edge extending in directions that intersect with each other, and the first sensor may detect the position of the first workpiece relative to the hand portion by detecting at least one point within the third edge and two points within the fourth edge that are spaced apart from each other.

[0010] In the energy storage module manufacturing apparatus according to the present disclosure, the hand section is provided with a first penetration portion that penetrates the hand section along a first direction, and the first sensor may detect the position of the first workpiece relative to the hand section by detecting one point within a third edge of the first workpiece held by the hand section and two points spaced apart within the second edge via the first penetration portion.

[0011] In the energy storage module manufacturing apparatus according to the present disclosure, the stage is provided with a second penetration portion that penetrates the stage in a first direction, and the second sensor may detect the position of the second workpiece relative to the stage by detecting one point within a first edge of the second workpiece placed on the stage and two points spaced apart within the second edge via the second penetration portion.

[0012] In the energy storage module manufacturing apparatus according to the present disclosure, on the surface of the hand unit facing the first sensor, at least a portion of the area extending from the outside to the inside of the edge of the first workpiece when viewed from the first direction may be colored a different color than the edge of the first workpiece, and on the surface of the stage facing the second sensor, at least a portion of the area extending from the outside to the inside of the edge of the second workpiece when viewed from the first direction may be colored a different color than the edge of the second workpiece.

[0013] The storage module manufacturing method according to the present disclosure includes a transporting step of transporting a first workpiece, which is a component of a storage module placed on a first device, to a second device on which a second workpiece is placed, and stacking the first workpiece on the second workpiece along a first direction, the transporting step including: a first step of picking up and holding the first workpiece with a hand unit on the first device; a second step of detecting, after the first step, the position of the first workpiece held in the first step relative to the hand unit; a third step of transporting the first workpiece to a predetermined position above the second workpiece placed on a stage of the second device by moving the hand unit to that predetermined position; a fourth step of detecting the position of the second workpiece placed on the stage relative to the stage; and a fifth step of adjusting the position of the second workpiece relative to the first work by moving the stage based on the detection result of the first work in the second step and the detection result of the second work in the fourth step, after the third and fourth steps.

[0014] In this method, in a first device, which is the source of the first work, the position of the first work, picked up and held by a hand unit, relative to the hand unit is detected. In a second device, which is the destination of the first work, the position of the second work, placed on a stage of the second device, relative to the stage is detected. The stage is then moved based on these detection results, thereby adjusting the position of the second work relative to the first work. Therefore, misalignment of the first work during stacking is suppressed. Furthermore, in this method, the position of the second work relative to the first work is adjusted by moving the stage, so that misalignment of the first work during stacking can be reliably suppressed without being affected by a decrease in the accuracy of position adjustment on the transport device side due to an increase in the weight of the workpieces.

[0015] In the energy storage module manufacturing method according to the present disclosure, the second work includes a first edge and a second edge that extend in directions that intersect with each other when viewed from a first direction, and in a fourth step, the position of the second work relative to the stage is detected by simultaneously detecting at least one point within the first edge and two points spaced apart within the second edge, and in a fifth step, the position of the second work relative to the first work may be adjusted by moving the stage in two intersecting directions within a plane that intersects with the first direction and rotating the stage within the plane that intersects with the first direction.

[0016] In the energy storage module manufacturing method according to the present disclosure, the first workpiece includes a third edge and a fourth edge that extend in directions that intersect with each other when viewed from the first direction, and in the second step, the position of the first workpiece relative to the hand portion may be detected by simultaneously detecting at least one point within the third edge and two points within the fourth edge that are spaced apart from each other.

[0017] In the energy storage module manufacturing method according to the present disclosure, the second step and the fourth step may be performed simultaneously.

[0018] 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 during stacking.

[0019] FIG. 1 is a schematic cross-sectional view showing an energy storage module according to the present embodiment. FIG. 2 is a schematic plan view of an energy storage module manufacturing apparatus according to the present embodiment. FIG. 3 is a flowchart showing an outline of an energy storage module manufacturing method. FIG. 4 is a flowchart showing details of the process of installing the separator shown in FIG. 3. FIG. 5 is a schematic side view showing some of the processes shown in FIG. 4. FIG. 6 is a schematic view showing a separator held by a hand unit and an electrode unit placed on a stage. FIG. 7 is a schematic side view showing some of the processes shown in FIG. 4. FIG. 8 is a flowchart showing details of the process of installing the spacer shown in FIG. 3. FIG. 9 is a schematic side view showing some of the processes shown in FIG. 8. FIG. 10 is a schematic view showing a spacer held by a hand unit and an electrode unit placed on a stage. FIG. 11 is a schematic side view showing some of the processes shown in FIG. 8. FIG. 12 is a flowchart showing details of the process of stacking the electrode units shown in FIG. 3. FIG. 13 is a schematic side view showing some of the processes shown in FIG. 12. FIG. 14 is a schematic diagram showing the electrode unit held by the hand unit and the electrode unit placed on the stage.

[0020] Hereinafter, an embodiment of an energy storage module manufacturing apparatus and an energy storage module manufacturing method will be described with reference to the drawings. In the description of each drawing, the same or corresponding elements are given the same reference numerals, and duplicated description will be omitted.

[0021] Fig. 1 is a schematic cross-sectional view showing an energy storage module 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, and 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, a case where the energy storage module 1 is a lithium-ion secondary battery is illustrated.

[0022] As shown in Fig. 1, the energy storage module 1 includes a stack 10 and a sealing body 20. The stack 10 includes a plurality of first electrode units 12, one negative electrode terminal unit 13, one positive electrode terminal unit 14, and a plurality of separators 51. The stack 10 has, for example, a rectangular parallelepiped shape as a whole. The stack 10 is configured by stacking the first electrode units 12, the negative electrode terminal unit 13, and the positive electrode terminal unit 14 along the Z-axis direction with spacers 52 and separators 51 interposed therebetween.

[0023] Each first electrode unit 12 includes a bipolar electrode 21 and a sealing member 22. The multiple first electrode units 12 are stacked along the Z-axis direction such that the positive electrode active material layer 24 of one first electrode unit 12 faces the negative electrode active material layer 25 of another first electrode unit 12. That is, the Z-axis direction is the stacking direction of the first electrode units 12 in the stack 10. The X-axis direction and the Y-axis direction are two directions that intersect (are perpendicular to) each other in a plane that intersects (is perpendicular to) the stacking direction. Each bipolar electrode 21 includes a current collector 23, a positive electrode active material layer 24, and a negative electrode active material layer 25.

[0024] 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 preferably a chemically inactive electrical conductor that allows current to continue to flow 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. Materials for the current collector 23 include, for example, metal materials, conductive resin materials, or conductive inorganic materials. Examples of conductive resin materials include resins formed 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.

[0025] 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. When a metal foil such as stainless steel foil is used as the current collector 23, the mechanical strength of the current collector 23 can be ensured. The current collector 23 may be an alloy foil 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.

[0026] 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 in the Z-axis direction. In this embodiment, the positive electrode active material layer 24 includes 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 include multiple positive electrode active materials. In this embodiment, the positive electrode active material layer 24 includes an olivine-type lithium iron phosphate (LiFePO4) composite oxide.

[0027] 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.

[0028] The negative electrode active material layer 25 includes 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 includes graphite as a carbon-based material.

[0029] The sealing member 22 of the first 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 rectangular 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 negative electrode unit 13 includes a negative electrode 31 and a sealing member 22. The negative electrode 31 includes a current collector 23 and a negative electrode active material layer 25. The negative electrode 31 does not include a positive electrode active material layer 24. That is, no active material layer is provided on one surface 23a of the current collector 23 of the negative electrode 31. The one surface 23a of the current collector 23 of the negative electrode 31 is exposed from the sealing member 22. The negative electrode unit 13 is disposed at one end of the stack 10 in the Z-axis direction. The negative electrode unit 13 is stacked on the first electrode unit 12 such that the negative electrode active material layer 25 faces the positive electrode active material layer 24 of the first electrode unit 12.

[0031] The sealing member 22 of the negative electrode terminal electrode unit 13 is bonded to one surface 23 a and the other surface 23 b of the current collector 23 at the peripheral portion of the current collector 23 in the negative electrode terminal electrode 31. It is sufficient that the sealing member 22 is bonded to at least one of the one surface 23 a and the other surface 23 b of the current collector 23. The sealing member 22 of the negative electrode terminal electrode unit 13 has a rectangular frame shape surrounding the active material layer when viewed in the thickness direction of the current collector 23. In the negative electrode terminal electrode unit 13, too, 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] The positive electrode terminal unit 14 includes a positive electrode terminal electrode 41 and a sealing member 22. The positive electrode terminal electrode 41 includes a current collector 23 and a positive electrode active material layer 24. The positive electrode terminal electrode 41 does not include 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 electrode terminal electrode 41. The other surface 23b of the current collector 23 of the positive electrode terminal electrode 41 is exposed from the sealing member 22. The positive electrode terminal electrode unit 14 is disposed at the other end of the stack 10 in the Z-axis direction. The positive electrode terminal electrode unit 14 is stacked on the first electrode unit 12 such that the positive electrode active material layer 24 of the positive electrode terminal electrode unit 41 faces the negative electrode active material layer 25 of the first electrode unit 12.

[0033] The sealing member 22 of the positive electrode terminal electrode unit 14 is bonded to one surface 23 a and the other surface 23 b of the current collector 23 at the peripheral portion of the current collector 23 in the positive electrode terminal electrode 41. It is sufficient that the sealing member 22 is bonded to at least one of the one surface 23 a and the other surface 23 b of the current collector 23. The sealing member 22 of the positive electrode terminal electrode unit 14 has a rectangular frame shape surrounding the active material layer when viewed in the thickness direction of the current collector 23. In the positive electrode terminal electrode unit 14, too, 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.

[0034] 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 bipolar electrode 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.

[0035] 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 referenced 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 may contain, for example, inorganic particles and a binder, and may also contain additives such as a thickener.

[0036] 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; carboxymethyl cellulose; alginates such as sodium alginate and ammonium alginate; water-soluble cellulose ester crosslinked bodies; and starch-acrylic acid graft polymers. These binders may be used alone or in combination. Examples of solvents that may be used include water and N-methyl-2-pyrrolidone (NMP).

[0037] The separators 51 are disposed between adjacent bipolar electrodes 21, between the negative terminal electrode 31 and the bipolar electrode 21, and between the positive 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-circuiting due to contact between adjacent electrodes while allowing charge carriers such as lithium ions to pass through.

[0038] 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.

[0039] 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.

[0040] The spacer 52 has a rectangular frame shape surrounding the active material layer when viewed in the thickness direction (Z-axis direction) of the current collector 23. The spacer 52 is disposed between adjacent sealing members 22. The outer edges of the sealing members 22 and the spacer 52 are substantially aligned when viewed in the Z-axis direction. The inner edge of the spacer 52 is located outside the inner edge of the sealing member 22 when viewed in the Z-axis direction.

[0041] During the manufacturing process of the energy storage module 1, after the step of forming the stack 10, the sealing member 22 and the spacer 52 are integrated to form the sealing body 20. As an example, the outer edges of the sealing member 22 and the spacer 52 located outside the outer edges of the current collector 23 as viewed in the Z-axis direction are melted. That is, the sealing member 22 and the spacer 52 are integrated by welding their outer edges to each other. The sealing member 22, the spacer 52, and the sealing body 20 prevent short circuits between the bipolar electrode 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 member 22 and the spacer 52 contain an insulating material. Examples of materials for the sealing member 22 and the spacer 52 include various resin materials, such as polypropylene, polyethylene, polystyrene, ABS resin, acrylonitrile-styrene resin, and modified resins of these resins.

[0042] 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 end faces of the sealing member 22 and the spacer 52 opposite the accommodation space S and the sealing body 20. However, as described above, the sealing member 22 and the spacer 52 are 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 member 22, the spacer 52, and the sealing body 20 are not clearly visible as illustrated.

[0043] As described above, the energy storage module 1 according to this embodiment can be used in batteries for various vehicles. Therefore, large components (first electrode unit 12, negative terminal electrode unit 13, positive terminal electrode unit 14, separator 51, and spacer 52) can be used for the energy storage module 1. The length of each component in the X-axis direction is, for example, 1 m or more, and the length of each component in the Y-axis direction is, for example, 1 m or more.

[0044] The first electrode unit 12 and one separator 51 arranged on the positive electrode active material layer 24 of the first electrode unit 12 constitute a second electrode unit 61. The second electrode unit 61 and one spacer 52 that sandwiches the separator 51 of the second electrode unit 61 between the second electrode unit 61 and the first electrode unit 12 constitute a third electrode unit 62. When manufacturing the energy storage module 1 described below, the third electrode units 62 (as well as the negative electrode terminal electrode unit 13 and the positive electrode terminal electrode unit 14) are stacked in the Z-axis direction to form a stack 10.

[0045] Next, an outline of an energy storage module manufacturing apparatus and an energy storage module manufacturing method for manufacturing the energy storage module 1 configured as above will be described. [Outline of Energy Storage Module Manufacturing Apparatus]

[0046] First, an overview of the energy storage module manufacturing apparatus according to this embodiment will be described. Fig. 2 is a schematic plan view of the energy storage module manufacturing apparatus according to this embodiment. Note that in the following drawings, for ease of understanding, workpieces involved in transport and stacking are conveniently hatched. As shown in Fig. 2, the energy storage module manufacturing apparatus 100 includes a separator manufacturing apparatus D1, a separator welding apparatus D2, a spacer manufacturing apparatus D3, a spacer welding apparatus D4, and a stacking apparatus D5. The energy storage module manufacturing apparatus 100 also includes transport apparatuses R12, R24, R34, and R45.

[0047] The separator manufacturing apparatus D1 and the separator welding apparatus D2 are arranged along the Y-axis direction, which is one direction in a plane intersecting (orthogonal to) the Z-axis direction. The separator welding apparatus D2, the spacer welding apparatus D4, and the lamination apparatus D5 are arranged along the X-axis direction, which is another direction in the plane intersecting the Z-axis direction and intersecting (orthogonal to) the Y-axis direction. The spacer manufacturing apparatus D3 and the spacer welding apparatus D4 are arranged along the Y-axis direction. Note that, as an example, the Z-axis direction is the vertical direction, and the Y-axis and X-axis directions are horizontal directions.

[0048] The separator manufacturing device D1 manufactures separators 51 by cutting a predetermined base material. The separator welding device D2 receives first electrode units 12 carried in from outside. The conveying device R12 holds the separator 51 with a hand unit H1 installed at the tip of an arm unit M1 (moving unit), and conveys the separator 51 to the separator welding device D2, where it is stacked on the first electrode unit 12. The separator welding device D2 temporarily welds the separator 51 to the first electrode unit 12 (sealing member 22), thereby assembling the separator 51 and the first electrode unit 12 to form a second electrode unit 61.

[0049] In this way, the separator 51 is the first workpiece W1 to be transported in the energy storage module manufacturing apparatus 100, and the first electrode unit 12 is the second workpiece W2 to be stacked on the first workpiece W1. Furthermore, the separator manufacturing apparatus D1 is the first apparatus AP1 from which the first workpiece W1 is transported, and the separator welding apparatus D2 is the second apparatus AP2 to which the first workpiece W1 is transported.

[0050] The transport device R24 holds the second electrode unit 61 with a hand unit H2 installed at the tip of an arm unit M2 (moving unit), transports the second electrode unit 61 to the spacer welding device D4, and places it on the spacer welding device D4. The spacer manufacturing device D3 manufactures frame-shaped spacers 52 from a predetermined base material. The transport device R34 holds the spacer 52 with a hand unit H3 installed at the tip of an arm unit M3 (moving unit), transports the spacer 52 to the spacer welding device D4, and stacks the spacer 52 on the second electrode unit 61. The spacer welding device D4 temporarily welds the spacer 52 to the second electrode unit 61 (sealing member 22), thereby assembling the spacer 52 and the second electrode unit 61 to form the third electrode unit 62.

[0051] In this way, the spacer 52 is the first workpiece W3 to be transported in the energy storage module manufacturing apparatus 100, and the second electrode unit 61 is the second workpiece W4 to be stacked with the spacer 52. Furthermore, the spacer manufacturing apparatus D3 is the first apparatus AP3 to which the first workpiece W3 is transported, and the spacer welding apparatus D4 is the second apparatus AP4a to which the first workpiece W3 is transported.

[0052] The transport device R45 holds the third electrode unit 62 with a hand H4 installed at the tip of an arm M4 (moving part), transports the third electrode unit 62 to the stacking device D5, and stacks it on members that have been placed in advance on the stacking device D5. The stacking device D5 is arranged with a pallet 70 (described later), a positive terminal electrode unit 14 (or a negative terminal electrode unit 13) stacked on the pallet 70, or another third electrode unit 62 further stacked on the pallet 70 and the positive terminal electrode unit 14.

[0053] The stacking device D5 stacks the pallet 70, the positive electrode terminal electrode unit 14 (or the negative electrode terminal electrode unit 13), and the plurality of third electrode units 62. Furthermore, after the stacking of all the third electrode units 62 is completed, the stacking device D5 stacks the negative electrode terminal electrode unit 13 (or the positive electrode terminal electrode unit 14) on the third electrode unit 62 in the uppermost layer. After the above stacking is completed, the stacking device D5 transports the constructed stack together with the pallet 70 to the outside.

[0054] In this way, the third electrode unit 62 is the first workpiece W5a to be transported in the energy storage module manufacturing apparatus 100. The third electrode unit 62 can also be the second workpiece W5b to be stacked with yet another third electrode unit 62. The spacer welding device D4 is also the first device AP4b from which the third electrode unit 62 is transported, and the stacking device D5 is the second device AP5 to which the third electrode unit 62 is transported. [Outline of the energy storage module manufacturing method]

[0055] Next, an outline of the energy storage module manufacturing method according to this embodiment will be described. FIG. 3 is a flowchart showing an outline of the energy storage module manufacturing method. As shown in FIG. 3, in the energy storage module manufacturing method according to this embodiment, first, a first electrode unit 12 is prepared by providing a sealing member 22 on a bipolar electrode 21 (step S1). It is assumed that the negative electrode terminal electrode unit 13 and the positive electrode terminal electrode unit 14 have already been prepared, and one of them is placed in the stacking device D5. The prepared first electrode unit 12 is carried into the separator welding device D2.

[0056] Next, the separator 51 manufactured in the separator manufacturing apparatus D1 is transported to the separator welding apparatus D2, where it is stacked on the first electrode unit 12 and temporarily welded to the first electrode unit 12 (sealing member 22) (step S2). In this way, the separator 51 and the first electrode unit 12 are assembled to form the second electrode unit 61. The assembled second electrode unit 61 is transported to the spacer welding apparatus D4.

[0057] Next, the spacer 52 manufactured in the spacer manufacturing apparatus D3 is transported to the spacer welding apparatus D4 and stacked on the second electrode unit 61, and is installed on the second electrode unit 61 (sealing member 22) by temporary welding (step S3). In this way, the spacer 52 and the second electrode unit 61 are assembled to form the third electrode unit 62.

[0058] Next, the third electrode unit 62 constructed in the spacer welding device D4 is transported to the stacking device D5 and stacked on the stacking targets already stacked in the stacking device D5 (step S4). When the stacking of the predetermined number of layers in the stacking device D5 is completed, the stack constructed in the stacking device D5 is carried out together with the pallet 70 (step S5). [Details of the Energy Storage Module Manufacturing Device and the Energy Storage Module Manufacturing Method]

[0059] Next, the details of the energy storage module manufacturing apparatus 100 and the energy storage module manufacturing method will be described. [Separator Assembly Process]

[0060] FIG. 4 is a flowchart showing details of the process of installing the separator shown in FIG. 3 . FIG. 5 is a schematic side view showing some of the processes shown in FIG. 4 . As shown in FIGS. 4 and 5 , first, a first electrode unit 12 (second workpiece W2) is carried into the separator welding device D2 (step S21). The separator welding device D2 includes a stage T2, an adjustment mechanism G2 that movably supports the stage T2, and a sensor C2 (second sensor) disposed to face the upper surface T2s of the stage T2. The sensor C2 includes, for example, a camera or an infrared sensor. The first electrode unit 12 carried into the separator welding device D2 is placed on the upper surface T2s of the stage T2.

[0061] The adjustment mechanism G2 moves the stage T2 along each of the X-axis direction and the Y-axis direction, and rotates the stage T2 in a plane intersecting the Z-axis direction (first direction). This allows the adjustment mechanism G2 to arbitrarily adjust the position of the first electrode unit 12 placed on the stage T2 in a plane intersecting the Z-axis direction. Note that the adjustment mechanism G2 may be configured to be able to move the stage T2 along the Z-axis direction.

[0062] Next, the separator manufacturing device D1 prepares a separator 51 by cutting a predetermined base material (step S22). The separator manufacturing device D1 includes a stage T1 and a sensor C1 (first sensor) facing the surface of the hand unit H1 facing the stage T1. The prepared separator 51 is placed on the stage T1. The sensor C1 includes, for example, a camera or an infrared sensor.

[0063] Next, the conveying device R12 conveys the separator 51 (first workpiece W1) placed in the separator manufacturing device D1 to the separator welding device D2, where the first electrode unit 12, which is the second workpiece W2 onto which the separator 51 is to be laminated, is placed. More specifically, the conveying device R12 first drives the arm M1 to move the hand unit H1, and the hand unit H1 picks up and holds the separator 51 in the separator manufacturing device D1 (step S23, conveying step, first step). The hand unit H1 is porous, with countless small holes (e.g., φ1 mm) formed throughout its entire surface H1s, and uses these small holes to suction and hold the separator 51. Thus, the hand unit H1 suctions and holds the separator 51 in the separator manufacturing device D1.

[0064] Next, in the separator manufacturing apparatus D1, the sensor C1 detects the position of the separator 51 held by the hand unit H1 relative to the hand unit H1 (step S24, transport step, second step). As shown in FIG. 6A, the separator 51 includes an edge 51a (third edge) and an edge 51b (fourth edge) that extend in directions intersecting each other when viewed from the stacking direction (Z-axis direction, first direction) of the separator 51 and the first electrode unit 12. More specifically, the separator 51 has a rectangular shape and includes an edge 51a corresponding to one of its long sides and an edge 51b corresponding to one of its short sides. The sensor C1 detects at least one area A1 within the edge 51a and two areas A1 spaced apart from each other within the edge 51b, thereby detecting the position of the separator 51 relative to the hand unit H1.

[0065] The hand unit H1 is configured to be larger than the separator 51 when viewed from the Z-axis direction. Therefore, when the hand unit H1 holds the separator 51, the edge of the separator 51 is positioned inside the edge of the hand unit H1. The surface H1s of the hand unit H1 faces the sensor C1, and the region that overlaps with the edge of the separator 51 when the separator 51 is held, i.e., the region H1p extending from the outside to the inside of the edge of the separator 51 when viewed from the Z-axis direction, is colored a different color (e.g., a dark color such as black) from the edge of the separator 51. Therefore, contrast between the separator 51 and the surface H1s of the hand unit H1 is ensured when detecting the one-point region A1 on the edge 51a and the two-point regions A1 on the edge 51b.

[0066] Next, in the separator welding device D2, the sensor C2 detects the position of the first electrode unit 12 placed on the stage T2 relative to the stage T2 (step S25, transport step, fourth step). As shown in FIG. 6B , the first electrode unit 12 includes an edge 12a and an edge 12b that extend in directions that intersect with each other when viewed in the Z-axis direction. More specifically, the first electrode unit 12 has a rectangular shape and includes an edge 12a (first edge) corresponding to one of its long sides and an edge 12b (second edge) corresponding to one of its short sides. The sensor C2 detects at least one area A2 within the edge 12a and two areas A2 spaced apart from each other within the edge 12b, thereby detecting the position of the first electrode unit 12 relative to the stage T2.

[0067] The stage T2 is configured to be larger than the first electrode unit 12 as viewed in the Z-axis direction. Therefore, when the first electrode unit 12 is placed on the stage T2, the edge of the first electrode unit 12 is positioned inside the edge of the stage T2. The top surface T2s of the stage T2 faces the sensor C2, and a region that overlaps with the edge of the first electrode unit 12 when the first electrode unit 12 is placed thereon, i.e., a region T2p extending from the outside to the inside of the edge of the first electrode unit 12 as viewed in the Z-axis direction, is colored a different color (e.g., a dark color such as black) from the edge of the first electrode unit 12. Therefore, contrast between the first electrode unit 12 and the top surface T2s of the stage T2 is ensured when detecting the one-point region A2 on the edge 12a and the two-point regions A2 on the edge 12b.

[0068] Note that step S25 may be performed after step S21, and may be performed before steps S22 to S24. As an example, step S25 may be performed simultaneously with step S24. As another example, in step S24, one or more sensors C1 may be used to simultaneously detect the three areas A1, and in step S25, one or more sensors C2 may be used to simultaneously detect the three areas A2.

[0069] 5 and 7 , the arm M1 of the conveying device R12 moves the hand H1 holding the separator 51 from the separator manufacturing device D1 toward the separator welding device D2, thereby conveying the hand H1 (separator 51) from the separator manufacturing device D1 to a predetermined position on the first electrode unit 12 placed on the stage T2 of the separator welding device D2 (step S26, conveying step, third step). Note that, as an example, the arm M1 may be configured to be able to move the hand H1 three-dimensionally so that it assumes any posture and location by translation along each of the X-axis direction, the Y-axis direction, and the Z-axis direction, and rotation about rotation axes along each of the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0070] Next, the adjustment mechanism G2 adjusts the position of the first electrode unit 12 relative to the separator 51 by moving the stage T2 based on the detection result of the separator 51 by the sensor C1 and the detection result of the first electrode unit 12 by the sensor C2 (step S27, transport step, fifth step). Specifically, the adjustment mechanism G2 calculates the transport completion position of the separator 51 in a plane intersecting the Z-axis direction (the position of the separator 51 when the hand unit H1 stops) based on the detection result of the separator 51 by the sensor C1, and can adjust the position of the first electrode unit 12 by moving the stage T2 based on the detection result of the first electrode unit 12 by the sensor C2 so that the position of the first electrode unit 12 placed on the stage T2 in the plane intersecting the Z-axis direction becomes the transport completion position.

[0071] In addition, the adjustment mechanism G2 can adjust the position of the first electrode unit 12 by moving the stage T2 in two intersecting directions (e.g., the X-axis direction and the Y-axis direction) within a plane intersecting the Z-axis direction, and by rotating the stage T2 within a plane intersecting the Z-axis direction.

[0072] Next, the arm M1 of the transport device R12 moves the hand H1 toward the stage T2, thereby stacking the separator 51 on the first electrode unit 12 (step S28, transport step). Thereafter, the hand H1 releases its hold on the separator 51 (e.g., releases suction), and the hand H1 is retracted while leaving the separator 51 on the first electrode unit 12 side.

[0073] Then, the separator 51 is temporarily welded to the first electrode unit 12 (step S29). At this time, spot welding can be performed on the separator 51 in an area that overlaps with the sealing member 22 of the first electrode unit 12. In this way, the separator 51 and the first electrode unit 12 are assembled to form the second electrode unit 61. [Spacer Assembly Step]

[0074] FIG. 8 is a flowchart showing the details of the spacer installation process shown in FIG. 3 . FIG. 9 is a schematic side view showing some of the processes shown in FIG. 8 . As shown in FIGS. 8 and 9 , first, a second electrode unit 61 (second workpiece W4) is carried into the spacer welding device D4 (step S31). The spacer welding device D4 includes a stage T4, an adjustment mechanism G4 that movably supports the stage T4, and a sensor C4 (second sensor) arranged to face the upper surface T4s of the stage T4. The sensor C4 includes, for example, a camera or an infrared sensor. The second electrode unit 61 carried into the spacer welding device D4 is placed on the upper surface T4s of the stage T4.

[0075] The adjustment mechanism G4 moves the stage T4 along each of the X-axis direction and the Y-axis direction, and rotates the stage T4 in a plane intersecting the Z-axis direction. This allows the adjustment mechanism G4 to arbitrarily adjust the position of the second electrode unit 61 placed on the stage T4 in a plane intersecting the Z-axis direction. Note that the adjustment mechanism G4 may be configured to be able to move the stage T4 along the Z-axis direction.

[0076] Next, the spacer manufacturing device D3 prepares a frame-shaped spacer 52 from a predetermined base material (step S32). The spacer manufacturing device D3 includes a stage T3 and a sensor C3 (first sensor) facing the stage T3. The prepared spacer 52 is placed on the stage T3. The sensor C3 includes, for example, a camera or an infrared sensor.

[0077] Next, the transport device R34 transports the spacer 52 (first workpiece W3) arranged in the spacer manufacturing device D3 to the spacer welding device D4, which has arranged thereon a second electrode unit 61, which is a second workpiece W4 onto which the spacer 52 is to be laminated. More specifically, the transport device R34 first moves the hand unit H3 by driving the arm unit M3, and the hand unit H3 picks up and holds the spacer 52 in the spacer manufacturing device D3 (step S33, transport step, first step). The hand unit H3 includes a frame-shaped frame having substantially the same shape as the spacer 52 and suction pads provided at multiple positions on the frame, and uses the suction pads to suction and hold the spacer 52.

[0078] Next, in the spacer manufacturing apparatus D3, the sensor C3 detects the position of the spacer 52 held by the hand unit H3 relative to the hand unit H3 (step S34, transport step, second step). As shown in FIG. 10A , the spacer 52 includes an edge 52a (third edge) and an edge 52b (fourth edge) that extend in directions intersecting each other when viewed from the stacking direction (Z-axis direction, first direction) of the spacer 52 and the second electrode unit 61. More specifically, the spacer 52 has a rectangular frame shape and includes an edge 51a corresponding to one of the long sides of the outer edge and an edge 51b corresponding to one of the short sides of the outer edge. The sensor C3 detects at least one area A3 within the edge 52a and two areas A3 spaced apart from each other within the edge 52b, thereby detecting the position of the spacer 52 relative to the hand unit H3.

[0079] The hand unit H3 is configured to be larger than the spacer 52 when viewed from the Z-axis direction. Therefore, when the hand unit H3 holds the spacer 52, the edge of the spacer 52 is positioned more inward than the edge of the hand unit H3 when viewed from the Z-axis direction. Furthermore, the hand unit H3 has a plurality of through-holes H3p (first through-holes) that penetrate the hand unit H3 in the Z-axis direction. Edges 52a and 52b of the spacer 52 are exposed at each through-hole H3p. The sensor C3 is located on the opposite side of the hand unit H3 from the stage T3, and detects the spacer 52 held by the hand unit H3 via the through-holes H3p.

[0080] Next, in the spacer welding device D4, the sensor C4 detects the position of the second electrode unit 61 placed on the stage T4 relative to the stage T4 (step S35, transport step, fourth step). As shown in FIG. 10B, the second electrode unit 61 includes an edge 61a and an edge 61b extending in directions intersecting each other when viewed from the Z-axis direction. More specifically, the second electrode unit 61 has a rectangular shape and includes an edge 61a (first edge) corresponding to one of its long sides and an edge 61b (second edge) corresponding to one of its short sides. The sensor C4 detects at least one area A4 on the edge 61a and two areas A4 on the edge 61b to detect the position of the second electrode unit 61 relative to the stage T4.

[0081] The stage T4 is configured to be larger than the second electrode unit 61 when viewed in the Z-axis direction. Therefore, when the second electrode unit 61 is placed on the stage T4, the edge of the second electrode unit 61 is positioned inside the edge of the stage T4. The top surface T4s of the stage T4 faces the sensor C4, and a region that overlaps with the edge of the second electrode unit 61 when the second electrode unit 61 is placed thereon, i.e., a region T4p extending from the outside to the inside of the edge of the second electrode unit 61, is colored a different color (e.g., a dark color such as black) from the edge of the second electrode unit 61. Therefore, contrast between the second electrode unit 61 and the top surface T4s of the stage T4 is ensured when detecting the one-point area A4 on the edge 61a and the two-point areas A4 on the edge 61b.

[0082] Note that step S35 may be performed after step S31, and may be performed before steps S32 to S34. As an example, step S35 may be performed simultaneously with step S34. As another example, in step S34, one or more sensors C3 may be used to simultaneously detect three areas A3, and in step S35, one or more sensors C4 may be used to simultaneously detect three areas A4.

[0083] 8 and 11 , the arm M3 of the transport device R34 moves the hand H3 holding the spacer 52 from the spacer manufacturing device D3 toward the spacer welding device D4, thereby transporting the hand H3 (spacer 52) from the spacer manufacturing device D3 to a predetermined position on the second electrode unit 61 placed on the stage T4 of the spacer welding device D4 (step S36, transport step, third step). Note that, as an example, the arm M3 may be capable of three-dimensionally moving the hand H3 so that it assumes any posture and location by translation along each of the X-axis direction, the Y-axis direction, and the Z-axis direction, and rotation about rotation axes along each of the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0084] Subsequently, the adjustment mechanism G4 adjusts the position of the second electrode unit 61 relative to the spacer 52 by moving the stage T4 based on the detection result of the spacer 52 by the sensor C3 and the detection result of the second electrode unit 61 by the sensor C4 (step S37, transport step, fifth step). Specifically, the adjustment mechanism G4 calculates the transport completion position of the spacer 52 in a plane intersecting the Z-axis direction (the position of the spacer 52 when the hand part H3 stops) based on the detection result of the spacer 52 by the sensor C3, and can adjust the position of the second electrode unit 61 by moving the stage T4 based on the detection result of the second electrode unit 61 by the sensor C4 so that the position of the second electrode unit 61 placed on the stage T4 in a plane intersecting the Z-axis direction becomes the transport completion position.

[0085] In addition, the adjustment mechanism G4 can adjust the position of the second electrode unit 61 by moving the stage T4 in two intersecting directions (e.g., the X-axis direction and the Y-axis direction) within a plane intersecting the Z-axis direction, and by rotating the stage T4 within a plane intersecting the Z-axis direction.

[0086] Next, the arm M3 of the transport device R34 moves the hand H3 toward the stage T4, thereby stacking the spacer 52 on the second electrode unit 61 (step S38, transport step). Thereafter, the hand H3 releases its hold on the spacer 52 (for example, releases suction), and the hand H3 is retracted while leaving the spacer 52 on the second electrode unit 61 side.

[0087] Then, the spacer 52 is temporarily welded to the second electrode unit 61 (step S39). At this time, spot welding can be performed on the area of ​​the spacer 52 that overlaps with the sealing member 22 of the second electrode unit 61 (and further on the area that does not overlap with the separator 51). In this way, the spacer 52 and the second electrode unit 61 are assembled to form the third electrode unit 62. [Lamination Step]

[0088] FIG. 12 is a flowchart showing the details of the process of stacking the electrode units shown in FIG. 3 . FIG. 13 is a schematic side view showing a portion of the process shown in FIG. 12 . As shown in FIGS. 12 and 13 , the third electrode unit 62 (first workpiece W5a) fabricated in the previous process S39 is placed on the stage T4 of the spacer welding device D4. In this process, the spacer welding device D4, which serves as the first device AP4b from which the third electrode unit 62 is transported, includes a sensor C6 (first sensor). Note that sensor C3 may be attached to the hand unit H4 and used instead of sensor C6. Alternatively, sensor C4 may be used instead of sensor C6. In this case, C4 functions as the first sensor in this process.

[0089] Here, the transport device R45 transports the third electrode unit 62 arranged in the spacer welding device D4 to the stacking device D5 on which another third electrode unit 62 is arranged, which is the second workpiece W5b on which the third electrode unit 62 is to be stacked. More specifically, the transport device R45 first moves the hand unit H4 by driving the arm unit M4, and the hand unit H4 picks up and holds the third electrode unit 62 in the spacer welding device D4 (step S41, transport step, first step). The hand unit H4 has a rectangular plate-shaped frame and suction pads provided on the frame, and uses the suction pads to suction and hold the third electrode unit 62.

[0090] Next, in the spacer welding device D4, the sensor C6 detects the position of the third electrode unit 62 held by the hand unit H4 relative to the hand unit H4 (step S42, transport step, second step). As shown in FIG. 14A, the third electrode unit 62 includes edges 62a and 62b that extend in directions intersecting each other when viewed from the stacking direction (Z-axis direction) of the third electrode unit 62 and another third electrode unit 62. More specifically, the third electrode unit 62 has a rectangular shape and includes an edge 62a (third edge) corresponding to one of its long sides and an edge 62b (fourth edge) corresponding to one of its short sides. The sensor C6 detects at least one area A4 within the edge 62a and two areas A4 spaced apart from each other within the edge 62b, thereby detecting the position of the third electrode unit 62 relative to the hand unit H4.

[0091] The stage T4 is configured to be larger than the third electrode unit 62 when viewed from the Z-axis direction. Therefore, when the hand H4 holds the third electrode unit 62, the edge of the third electrode unit 62 is positioned inside the edge of the stage T4 when viewed from the Z-axis direction. The top surface T4s of the stage T4 faces the sensor C6. The region T4p that overlaps with the edge of the third electrode unit 62 when the third electrode unit 62 is held by the hand H4, i.e., the region T4p extending from the outside to the inside of the edge of the third electrode unit 62, is colored a different color (e.g., a dark color such as black) from the edge of the third electrode unit 62. This ensures contrast between the third electrode unit 62 and the top surface T4s of the stage T4 when detecting the one-point region A4 on the edge 62a and the two-point region A4 on the edge 62b.

[0092] Next, in the stacking device D5, the sensor C5 (second sensor) detects the position of the third electrode unit 62 (second workpiece W5b) placed on the stage T5 relative to the stage T5 (step S43, transport step, fourth step). Note that here, it is assumed that the pallet 70, the positive terminal electrode unit 14 (not shown), and another third electrode unit 62 (second workpiece W5b) have been stacked in advance on the stage T5 of the stacking device D5.

[0093] 14B, the third electrode unit 62 includes an edge 62a and an edge 62b that extend in directions that intersect with each other when viewed from the Z-axis direction. More specifically, the third electrode unit 62 has a rectangular shape and includes an edge 62a (first edge) corresponding to one of its long sides and an edge 62b (second edge) corresponding to one of its short sides. The sensor C5 detects at least one area A5 within the edge 62a and two areas A5 spaced apart within the edge 62b, thereby detecting the position of the third electrode unit 62 relative to the stage T5.

[0094] The stage T5 and the pallet 70 are configured to be larger than the third electrode unit 62 when viewed in the Z-axis direction. Therefore, when the third electrode unit 62 is placed on the stage T5 and the pallet 70, the edges of the third electrode unit 62 are positioned more inward than the edges of the stage T5 and the pallet 70. Furthermore, the stage T5 is formed with a plurality of through-holes T5p (second through-holes) that penetrate the stage T5 in the Z-axis direction, and the pallet 70 is formed with a plurality of through-holes 70p that penetrate the pallet 70 in the Z-axis direction at positions that overlap with the through-holes T5p. The edges 62a, 62b of the third electrode unit 62 are exposed at the through-holes T5p, 70p, respectively. The sensor C5 is positioned on the opposite side of the stage T5 from the third electrode unit 62, and detects the third electrode unit 62 placed on the stage T5 and the pallet 70 via the through-holes T5p, 70p.

[0095] Note that step S43 may be performed before steps S41 and S42. As an example, step S43 may be performed simultaneously with step S42. As another example, in step S42, one or more sensors C6 may be used to simultaneously detect three areas A4, and in step S43, one or more sensors C5 may be used to simultaneously detect three areas A5.

[0096] 12 and 13 , the arm M4 of the transport device R45 moves the hand H4 holding the third electrode unit 62 from the spacer welding device D4 toward the stacking device D5, thereby transporting the hand H4 (third electrode unit 62) from the spacer welding device D4 to a predetermined position on another third electrode unit 62 placed on the stage T5 of the stacking device D5 (step S44, transport step, third step). Note that, as an example, the arm M4 may be configured to be able to move the hand H4 three-dimensionally so that it assumes any posture and location by translation along each of the X-axis direction, the Y-axis direction, and the Z-axis direction, and rotation about rotation axes along each of the X-axis direction, the Y-axis direction, and the Z-axis direction.

[0097] Subsequently, the adjustment mechanism G5 adjusts the position of the other third electrode unit 62 relative to the third electrode unit 62 by moving the stage T5 based on the detection result of the third electrode unit 62 by the sensor C6 and the detection result of the other third electrode unit 62 by the sensor C5 (step S45, transport step, fifth step). Specifically, the adjustment mechanism G5 calculates the transport completion position of the third electrode unit 62 in a plane intersecting with the Z-axis direction (the position of the third electrode unit 62 when the hand part H4 is stopped) based on the detection result of the third electrode unit 62 by the sensor C6, and can adjust the position of the other third electrode unit 62 by moving the stage T5 based on the detection result of the other third electrode unit 62 by the sensor C5 so that the position of the other third electrode unit 62 placed on the stage T5 in the plane intersecting with the Z-axis direction becomes the transport completion position.

[0098] In addition, the adjustment mechanism G5 can adjust the position of the third electrode unit 62 by moving the stage T5 in two intersecting directions (e.g., the X-axis direction and the Y-axis direction) within a plane intersecting the Z-axis direction, and by rotating the stage T5 within a plane intersecting the Z-axis direction.

[0099] Next, the arm M4 of the transport device R45 moves the hand H4 toward the stage T5, thereby stacking the third electrode unit 62 on another third electrode unit 62 (step S46, stacking step). Thereafter, the hand H4 releases its hold on the third electrode unit 62 (for example, releases suction), and the hand H4 is retracted while leaving the third electrode unit 62 on the side of the other third electrode unit 62.

[0100] Furthermore, in the stacking device D5, after stacking of all the third electrode units 62 is completed, the negative terminal electrode unit 13 is further stacked on the uppermost third electrode unit 62. After the above stacking is completed in the stacking device D5, the constructed stack is carried out together with the pallet 70 to the outside. [Functions and Effects]

[0101] The following describes the functions and effects of the energy storage module manufacturing apparatus and energy storage module manufacturing method according to this embodiment. Effects common to the separator assembly process, spacer assembly process, and lamination process will be described using the lamination process (spacer welding apparatus D4 and lamination apparatus D5) as a representative, and other effects will be described using each process (and the apparatus for each process). In the present invention, a rectangular shape when viewed from the Z-axis direction means any shape with a rectangular outer edge. Specifically, this includes rectangles, rectangular frames, etc.

[0102] In the energy storage module manufacturing apparatus 100 and energy storage module manufacturing method according to this embodiment, in the spacer welding device D4, which is the source of the third electrode unit 62, the position of the third electrode unit 62, which is picked up and held by the hand part H4, relative to the hand part H4 is detected by a sensor C6. Also, in the stacking device D5, which is the destination of the third electrode unit 62, the position of another third electrode unit 62 placed on a stage T5 of the stacking device D5, relative to the stage T5 is detected by a sensor C5. Then, the stage T5 is moved based on the detection results of the sensors C6 and C5, thereby adjusting the position of the another third electrode unit 62 relative to the third electrode unit 62.

[0103] Therefore, misalignment of the workpieces during stacking is suppressed. Generally, in a transport device that transports workpieces by suspending them using a hand or the like, the accuracy of position adjustment on the transport device side decreases as the weight of the workpiece increases. In contrast, with this energy storage module manufacturing apparatus 100, the position of the third electrode unit 62 is adjusted by moving the stage T5, so that misalignment of the workpieces during stacking can be reliably suppressed without being affected by the decrease in accuracy of position adjustment that occurs when the transportable weight of the transport device increases.

[0104] Furthermore, in the energy storage module manufacturing apparatus 100 according to this embodiment, the third electrode unit 62 to be conveyed and the other third electrode unit 62 to be stacked thereon are rectangular when viewed from the Z-axis direction and include edges 62a and 62b that extend in directions that intersect with each other, the sensors C6 and C5 detect at least one point within the edge 62a and two points spaced apart within the edge 62b, and the adjustment mechanism G5 moves the stage T4 in two intersecting directions within a plane that intersects with the Z-axis direction and rotates the stage T5 within the plane that intersects with the Z-axis direction to adjust the position of the third electrode unit 62. This makes it possible to reliably suppress positional deviations, including translation and rotation, within a plane that intersects with the Z-axis direction.

[0105] Furthermore, in the energy storage module manufacturing apparatus 100 according to this embodiment, the hand unit H3 of the spacer manufacturing device D3 is provided with a through-hole H3p that penetrates the hand unit H3 in the Z-axis direction, and the sensor C3 of the spacer manufacturing device D3 detects the spacer 52 held by the hand unit H3 via the through-hole H3p. Here, one point within the edge 52a of the spacer 52 held by the hand unit H3 and two spaced-apart points within the edge 52b are detected via the through-hole H3p, thereby detecting the position of the spacer 52 relative to the hand unit H3. Therefore, by using the hand unit H3 that is larger than the spacer 52 to hold the entire spacer 52, it is possible to detect the edge of the spacer 52 via the through-hole H3p while suppressing deflection of the spacer 52.

[0106] Furthermore, in the energy storage module manufacturing apparatus 100 according to this embodiment, the stage T5 is provided with a through-hole T5p penetrating the stage T5 in the Z-axis direction, and the sensor C5 detects the third electrode unit 62 placed on the stage T5 and the pallet 70 via the through-hole T5p and the through-hole 70p. Here, the sensor C5 detects one point within the edge 62a of the third electrode unit 62 placed on the stage T5 and two spaced-apart points within the edge 62b via the through-hole T5p and the through-hole 70p, thereby detecting the position of the third electrode unit 62 relative to the stage T5. This makes it possible to detect the edge of the third electrode unit 62 via the through-hole T5p and the through-hole 70p while installing the sensor C5 on the side of the stage T5 opposite the third electrode unit 62. This eliminates the need to install the sensor C5 on the third electrode unit 62 side of the stage T5, making it easier to stack the third electrode units 62. The sensor C5 is provided below the stage T5 in the Z-axis direction, and detects the third electrode unit 62 from below the stage T5 via the through-hole T5p of the stage T5 and the through-hole 70p of the pallet 70.

[0107] Furthermore, in the energy storage module manufacturing apparatus 100 according to this embodiment, on the surface H1s of the hand unit H1 of the separator manufacturing apparatus D1 facing the sensor C1, at least a portion of a region H1p extending from the outside to the inside of the edge of the separator 51 as viewed in the Z-axis direction is colored a different color from the edge of the separator 51. Furthermore, on the upper surface T2s of the stage T2 of the separator welding apparatus D2 facing the sensor C2, at least a portion of a region T2p extending from the outside to the inside of the edge of the first electrode unit 12 as viewed in the Z-axis direction is colored a different color from the edge of the first electrode unit 12. This ensures contrast between the edge of the separator 51 and the hand unit H1, and between the edge of the first electrode unit 12 and the stage T2. As a result, the detection accuracy of the edge is improved.

[0108] In the energy storage module manufacturing method according to this embodiment, in steps S42 and S43, at least one point within the edge 62a and two spaced apart points within the edge 62b of the third electrode unit 62 may be detected simultaneously, or steps S42 and S43 may be performed simultaneously. In these cases, the time required for manufacturing the energy storage module can be shortened.

[0109] The above embodiment has described one aspect of the energy storage module manufacturing apparatus and the energy storage module manufacturing method according to the present invention. Therefore, the present invention is not limited to the above embodiment and can be modified as desired.

[0110] For example, the elements of the devices used in the separator assembly process, the spacer assembly process, and the lamination process can be arbitrarily combined or exchanged. As an example, the spacer welding device D4 may be configured as a hand unit H4 larger than the first workpiece W5a (third electrode unit 62), as in the separator manufacturing device D1, and the portion of the surface of the hand unit H4 corresponding to the edge of the third electrode unit 62 may be colored.

[0111] In the above embodiment, the stacking process has been described with the pallet 70 and the positive terminal electrode units 14 placed in advance on the stage T5 of the stacking device D5. However, when stacking the pallet 70 on the stage T5 of the stacking device D5, and when stacking the positive terminal electrode units 14 on the pallet 70, the stage T5 may be moved based on the detection results of the respective sensors to adjust the relative positions (i.e., the present invention may be applied).

[0112] The following additional notes will be made regarding the above embodiment.

[0113] [Supplementary Note 1] A system including a first device on which a first workpiece that is a component of an energy storage module is placed, a second device on which a second workpiece that is a component of the energy storage module is placed, a transport device that transports the first workpiece placed on the first device to the second device and stacks the first workpiece on the second workpiece placed on the second device along a first direction, a first sensor that detects the first workpiece, a second sensor that detects the second workpiece, and an adjustment mechanism that adjusts the position of the second workpiece relative to the first workpiece in the second device, wherein the transport device includes a hand unit that picks up and holds the first workpiece in the first device, and a second sensor that detects the second workpiece while holding the first workpiece, and an adjustment mechanism that adjusts the position of the second workpiece relative to the first workpiece in the second device. a moving unit that transports the first work to a predetermined position on the second work placed on a stage, wherein the first sensor detects the position of the first work held by the hand unit relative to the hand unit, the second sensor detects the position of the second work placed on the stage relative to the stage, and the adjustment mechanism is provided in the second device and adjusts the position of the second work relative to the first work held by the hand unit at the predetermined position by moving the stage based on the detection result of the first work by the first sensor and the detection result of the second work by the second sensor.

[0114] [Appendix 2] The second workpiece is rectangular when viewed from the first direction and includes a first edge and a second edge extending in directions that intersect each other, the second sensor detects the position of the second workpiece relative to the stage by detecting at least one point within the first edge and two points spaced apart within the second edge, and the adjustment mechanism adjusts the position of the second workpiece relative to the first workpiece by moving the stage in two intersecting directions within a plane that intersects the first direction and rotating the stage within the plane that intersects the first direction. This is the storage module manufacturing apparatus described in Appendix 1.

[0115] [Appendix 3] The first workpiece is rectangular when viewed from the first direction and includes a third edge and a fourth edge that extend in directions that intersect with each other, and the first sensor detects the position of the first workpiece relative to the hand portion by detecting at least one point within the third edge and two points spaced apart within the fourth edge. This is the energy storage module manufacturing apparatus described in Appendix 1 or 2.

[0116] [Appendix 4] The hand section is provided with a first penetration portion that penetrates the hand section along the first direction, and the first sensor detects the position of the first workpiece relative to the hand section by detecting the one point within the third edge of the first workpiece held by the hand section and the two points spaced apart within the second edge via the first penetration portion. This is the energy storage module manufacturing apparatus described in Appendix 3.

[0117] [Appendix 5] The stage is provided with a second penetration portion that penetrates the stage in the first direction, and the second sensor detects the position of the second workpiece relative to the stage by detecting the one point within the first edge of the second workpiece placed on the stage and the two points spaced apart within the second edge via the second penetration portion. This is the storage module manufacturing apparatus described in Appendix 2.

[0118] [Appendix 6] An energy storage module manufacturing apparatus as described in any of Appendices 1 to 5, wherein on the surface of the hand portion facing the first sensor, at least a portion of the area extending from the outside to the inside of the edge of the first workpiece as viewed from the first direction is colored a color different from the edge of the first workpiece, and on the surface of the stage facing the second sensor, at least a portion of the area extending from the outside to the inside of the edge of the second workpiece as viewed from the first direction is colored a color different from the edge of the second workpiece.

[0119] [Appendix 7] A method for manufacturing an energy storage module, comprising: a transporting step of transporting a first workpiece, which is a component of an energy storage module arranged in a first device, to a second device on which a second workpiece is placed, and stacking the first workpiece on the second workpiece along a first direction, the transporting step including: a first step of picking up and holding the first workpiece with a hand unit in the first device; a second step of detecting, after the first step, a position of the first workpiece held in the first step relative to the hand unit; a third step of transporting the first workpiece to a predetermined position above the second workpiece placed on a stage of the second device by moving the hand unit to the predetermined position after the second step; a fourth step of detecting a position of the second workpiece placed on the stage relative to the stage; and a fifth step of adjusting the position of the second workpiece relative to the first workpiece by moving the stage based on a detection result of the first workpiece in the second step and a detection result of the second work in the fourth step, after the third and fourth steps.

[0120] [Appendix 8] The second work includes a first edge and a second edge extending in directions that intersect with each other when viewed from the first direction, and in the fourth step, the position of the second work relative to the stage is detected by simultaneously detecting at least one point within the first edge and two points within the second edge that are spaced apart from each other, and in the fifth step, the position of the second work relative to the first work is adjusted by moving the stage in two intersecting directions within a plane that intersects with the first direction and rotating the stage within the plane that intersects with the first direction.

[0121] [Appendix 9] The method for manufacturing an energy storage module described in Appendix 7 or 8, wherein the first work includes a third edge and a fourth edge that extend in directions that intersect with each other when viewed from the first direction, and in the second step, the position of the first work relative to the hand portion is detected by simultaneously detecting at least one point within the third edge and two points within the fourth edge that are spaced apart from each other.

[0122] [Supplementary Note 10] The method for manufacturing a storage module according to any one of Supplementary Notes 7 to 9, wherein the second step and the fourth step are carried out simultaneously.

[0123] 100 Energy storage module manufacturing device AP1, AP3, AP4b First device AP2, AP4a, AP5 Second device W1, W3, W5a First workpiece W2, W4, W5b Second workpiece H1, H2, H3, H4 Hand unit M1, M2, M3, M4 Arm unit (moving unit) R12, R24, R34, R45 Transport device C1, C3, C6 Sensor (first sensor) C2, C4, C5 Sensor (second sensor) T2, T4, T5 Stage G2, G4, G5 Adjustment mechanism

Claims

1. A system comprising: a first device on which a first workpiece that is a component of an energy storage module is placed; a second device on which a second workpiece that is a component of the energy storage module is placed; a transport device that transports the first workpiece placed on the first device to the second device and stacks the first workpiece on the second workpiece placed on the second device along a first direction; a first sensor that detects the first workpiece; a second sensor that detects the second workpiece; and an adjustment mechanism that adjusts a position of the second workpiece relative to the first workpiece in the second device, wherein the transport device includes: a hand unit that picks up and holds the first workpiece in the first device; and a moving unit that moves the hand unit holding the first workpiece to a predetermined position on the second workpiece placed on a stage of the second device, thereby transporting the first workpiece to the predetermined position, wherein the first sensor detects the position of the first workpiece held by the hand unit relative to the hand unit, and the second sensor detects the position of the second workpiece placed on the stage relative to the stage, the adjustment mechanism is provided in the second device and adjusts the position of the second workpiece relative to the first workpiece held by the hand portion at the predetermined position by moving the stage based on a detection result of the first workpiece by the first sensor and a detection result of the second workpiece by the second sensor.

2. The energy storage module manufacturing apparatus of claim 1, wherein the second workpiece is rectangular when viewed from the first direction and includes a first edge and a second edge extending in directions that intersect each other, the second sensor detects the position of the second workpiece relative to the stage by detecting at least one point within the first edge and two points spaced apart within the second edge, and the adjustment mechanism adjusts the position of the second workpiece relative to the first workpiece by moving the stage in two intersecting directions within a plane that intersects with the first direction and rotating the stage within the plane that intersects with the first direction.

3. The energy storage module manufacturing apparatus of claim 1 or 2, wherein the first workpiece is rectangular when viewed from the first direction and includes a third edge and a fourth edge extending in directions that intersect each other, and the first sensor detects the position of the first workpiece relative to the hand portion by detecting at least one point within the third edge and two points spaced apart within the fourth edge.

4. The energy storage module manufacturing apparatus of claim 3, wherein the hand portion is provided with a first penetration portion that penetrates the hand portion along the first direction, and the first sensor detects the position of the first workpiece relative to the hand portion by detecting the one point within the third edge of the first workpiece held by the hand portion and the two points spaced apart within the second edge via the first penetration portion.

5. The energy storage module manufacturing apparatus of claim 2, wherein the stage is provided with a second penetration portion that penetrates the stage in the first direction, and the second sensor detects the position of the second workpiece relative to the stage by detecting the one point within the first edge of the second workpiece placed on the stage and the two points spaced apart within the second edge via the second penetration portion.

6. A storage module manufacturing apparatus as described in any one of claims 1 to 5, wherein on a surface of the hand portion facing the first sensor, at least a portion of an area extending from the outside to the inside of an edge of the first workpiece when viewed from the first direction is colored a color different from the edge of the first workpiece, and on a surface of the stage facing the second sensor, at least a portion of an area extending from the outside to the inside of an edge of the second workpiece when viewed from the first direction is colored a color different from the edge of the second workpiece.

7. A method for manufacturing an energy storage module, comprising a transport step of transporting a first work, which is a component of an energy storage module placed on a first device, to a second device on which a second work is placed, and stacking the first work on the second work along a first direction, the transport step including: a first step of picking up and holding the first work with a hand unit in the first device; a second step of detecting a position of the first work held in the first step relative to the hand unit after the first step; a third step of moving the hand unit to a predetermined position on the second work placed on a stage of the second device, thereby transporting the first work to the predetermined position; a fourth step of detecting a position of the second work placed on the stage relative to the stage; and a fifth step of adjusting the position of the second work relative to the first work by moving the stage based on a detection result of the first work in the second step and a detection result of the second work in the fourth step after the third and fourth steps.

8. The method for manufacturing an energy storage module as described in claim 7, wherein the second work includes a first edge and a second edge extending in directions intersecting each other when viewed from the first direction, and in the fourth step, the position of the second work relative to the stage is detected by simultaneously detecting at least one point within the first edge and two points spaced apart from each other within the second edge, and in the fifth step, the position of the second work relative to the first work is adjusted by moving the stage in two intersecting directions within a plane intersecting the first direction and rotating the stage within the plane intersecting the first direction.

9. The method for manufacturing an energy storage module described in claim 7 or 8, wherein the first work includes a third edge and a fourth edge extending in directions intersecting each other when viewed from the first direction, and in the second step, the position of the first work relative to the hand portion is detected by simultaneously detecting at least one point within the third edge and two points spaced apart from each other within the fourth edge.

10. The method for producing a storage module according to any one of claims 7 to 9, wherein the second step and the fourth step are carried out simultaneously.

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