JP2017226493A - Lamination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a lamination device which can accurately determine quality of a workpiece.SOLUTION: A lamination device 1 comprises: a movement control part 44 for controlling a transfer unit 10 so as to move an electrode from a mount part to a lamination part, after the electrode is positioned at a reference position; a first inspection part 45 for acquiring picked up images of one principal surface of the electrode imaged by imaging cameras 36, 38 after the electrode is positioned at the reference position, then inspecting a state of one principal surface of the electrode based on the picked up images, for determining whether or not the electrode is a defective; a second inspection part 46 for, acquiring picked up images of the other principal surface of the electrode imaged by imaging cameras 37, 39 after the electrode is positioned at the reference position, then inspecting a state of the other principal surface of the electrode based on the picked up images, for determining whether or not the electrode is a defective; and a lamination control unit 47 for controlling the transfer unit 10 so that the electrodes are stacked on the laminated portion when it is determined that the electrode is not defective.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a laminating apparatus.

  As a conventional laminating apparatus, for example, an apparatus described in Patent Document 1 is known. The laminating apparatus described in Patent Document 1 includes a positive electrode alignment stage on which a positive electrode plate is placed, a positive electrode camera that is provided above the positive electrode alignment stage and photographs the positive electrode plate, and a positive electrode alignment. A positive electrode stage driving device for moving and / or rotating the stage in a plane direction, a negative electrode alignment stage on which a negative electrode plate is placed, and a negative electrode alignment stage, which are provided above and image the negative electrode plate A negative electrode camera, a negative electrode stage driving device for moving and / or rotating the negative electrode alignment stage in a plane direction, a loading portion on which the positive electrode plate and the negative electrode plate are stacked, and a positive electrode plate And a loading arm unit for alternately holding the negative electrode plates and loading them on the loading unit, and a control unit. The control unit recognizes the position in the planar direction of the positive electrode plate based on the photographing data of the positive electrode plate photographed by the positive camera, and drives the positive stage based on the position in the planar direction of the positive electrode plate The apparatus is controlled so that the positive electrode plate is set to an appropriate position, and the state of the positive electrode plate is recognized based on imaging data of the positive electrode plate taken by the positive electrode camera. The control unit also recognizes the position of the negative electrode plate in the planar direction based on the negative electrode plate image data captured by the negative electrode camera, and determines the negative electrode position based on the position of the negative electrode plate in the planar direction. The stage driving device is controlled to set the negative electrode plate at an appropriate position, and the state of the negative electrode plate is recognized based on photographing data of the negative electrode plate taken by the negative camera.

JP 2012-174388 A

  However, the following problems exist in the prior art. That is, in the above prior art, not only the electrode surface state, that is, whether the surface of the electrode has scratches, foreign matter, or the like is recognized based on the imaging data of the electrode captured by the camera, but also on the alignment stage. It also recognizes the positional deviation in the plane direction of the electric plate placed on the board. For this reason, it is necessary to capture a wide area by increasing the angle of view of the camera. Accordingly, the image on the surface of the electrode becomes relatively rough, and the surface state of the electrode cannot be accurately inspected. Moreover, in the said prior art, since the camera image | photographs only one main surface of an electrode, the state of the other main surface of an electrode is not recognized. As described above, the quality of the electrode cannot be determined accurately.

  An object of the present invention is to provide a laminating apparatus that can accurately determine whether a workpiece is good or bad.

  A laminating apparatus according to one aspect of the present invention includes a placing portion on which a workpiece having two main surfaces, a front surface and a back surface, is placed, a laminating portion on which the workpiece is laminated, and a holding portion that holds the workpiece. A transfer unit that transfers from the placement unit to the stacking unit, a first imaging unit that images one main surface of the workpiece, a second imaging unit that images the other main surface of the workpiece, and a placement unit A positioning unit that positions the workpiece placed at the reference position, a movement control unit that controls the transfer unit so that the workpiece is moved from the placement unit to the stacking unit after the workpiece is positioned at the reference position by the positioning unit; After the workpiece is positioned at the reference position by the positioning unit, a captured image of one main surface of the workpiece imaged by the first imaging unit is acquired, and one main surface of the workpiece is acquired based on the captured image of one main surface of the workpiece. Inspect surface condition The first inspection unit that determines whether or not the workpiece is defective, and the captured image of the other main surface of the workpiece imaged by the second imaging unit after the workpiece is positioned at the reference position by the positioning unit. A second inspection unit that obtains and inspects the state of the other main surface of the work based on a captured image of the other main surface of the work to determine whether the work is a defective product; and a first inspection unit And a stacking control unit that controls the transfer unit so that the workpiece is stacked on the stacking unit when it is determined by the second inspection unit that the workpiece is not defective.

  Thus, in the laminating apparatus according to the present invention, a captured image of one main surface of the workpiece imaged by the first imaging unit after the workpiece placed on the placement unit is positioned at the reference position is acquired, The state of one main surface of the workpiece is inspected based on the captured image, and it is determined whether or not the workpiece is defective. In addition, a captured image of the other main surface of the workpiece imaged by the second imaging unit after the workpiece placed on the placement unit is positioned at the reference position is acquired, and the other of the workpieces is acquired based on the captured image. By inspecting the state of the main surface, it is determined whether or not the work is defective. Therefore, compared with the case where the inspection of the state of the main surface of the workpiece and the recognition of the displacement of the workpiece with respect to the reference position are performed based on the captured image of the main surface of the workpiece, the first imaging unit and the second imaging unit. The angle of view can be reduced to narrow the imaging area of the first imaging unit and the second imaging unit. For this reason, the state of both main surfaces of a work can be inspected precisely. Thereby, the quality determination of a workpiece | work can be performed accurately.

  The first inspection unit acquires a captured image of one main surface of the workpiece imaged by the first imaging unit in a state where the workpiece is positioned at the reference position by the positioning unit, and the movement control unit is configured by the first inspection unit. When it is determined that the workpiece is not defective, the transfer unit is controlled to move the workpiece from the placement unit to the stacking unit, and the second inspection unit is moving the workpiece from the placement unit to the stacking unit. Alternatively, a captured image of the other main surface of the workpiece imaged by the second imaging unit may be acquired.

  In this way, by acquiring a captured image of one main surface of the workpiece imaged by the first imaging unit with the workpiece positioned at the reference position, the first inspection unit determines that the workpiece is a defective product. The workpiece does not have to be moved from the placement unit to the stacking unit. Thereby, useless processing can be omitted. In addition, by acquiring a captured image of the other main surface of the workpiece imaged by the second imaging unit during the movement of the workpiece from the placement unit to the stacking unit, the second imaging unit moves the other main surface of the workpiece. There is no need to temporarily stop the workpiece for imaging. Thereby, speeding up of the lamination | stacking of a workpiece | work can be achieved.

  The stacking apparatus stores a workpiece in the defective product storage unit when the defective product storage unit that stores the defective product and the first inspection unit or the second inspection unit determines that the workpiece is defective. As described above, a defective product processing unit for controlling the transfer unit may be further provided. In such a configuration, since the workpieces of defective products are collected in the defective product storage unit, the processing of defective products can be easily performed.

  The workpiece is positioned between the two main surfaces, and the second edge is positioned between the two main surfaces and extends from one end of the first edge in a direction perpendicular to the first edge. The mounting portion, and the mounting portion is erected on the mounting table, is engaged with the first edge portion, is erected on the mounting table, and is engaged with the second edge portion. The positioning unit has a first pusher that presses the work against the first wall so that the first edge abuts the first wall, and the second edge is the second wall. You may have a 2nd pusher which presses a workpiece | work with respect to a 2nd wall part so that it may contact | abut 2 wall part. In such a configuration, the workpiece placed on the placement portion can be easily and reliably positioned at the reference position.

  ADVANTAGE OF THE INVENTION According to this invention, the lamination | stacking apparatus which can perform the quality determination of a workpiece | work accurately is provided.

FIG. 1 is a schematic plan view showing a laminating apparatus according to an embodiment of the present invention. FIG. 2 is a schematic side view showing a part of the laminating apparatus shown in FIG. 3A is a plan view of the positive electrode shown in FIGS. 1 and 2, and FIG. 3B is a plan view of the negative electrode shown in FIGS. 1 and 2. 4A is a cross-sectional view showing the positive electrode mounting portion shown in FIG. 1 and FIG. 2 together with the positive electrode positioning unit, and FIG. 4B is a negative electrode mounting portion shown in FIG. 1 and FIG. It is sectional drawing which shows a part with a negative electrode positioning unit. FIG. 5 is a control system configuration diagram of the laminating apparatus shown in FIGS. 1 and 2. FIG. 6 is a flowchart showing details of a positive electrode stacking process procedure executed by the controller shown in FIG. FIG. 7 is a flowchart showing details of a negative electrode stacking process procedure executed by the controller shown in FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a schematic plan view showing a laminating apparatus according to an embodiment of the present invention. FIG. 2 is a schematic side view showing a part of the laminating apparatus shown in FIG. 1 and 2 are different in operation state. 1 and 2, a laminating apparatus 1 according to this embodiment is an apparatus that alternately stacks positive electrodes 2 and negative electrodes 3 that are workpieces. The positive electrode 2 and the negative electrode 3 are electrodes of a lithium ion secondary battery.

  As shown in FIG. 3A, the positive electrode 2 includes a main body 2a having a rectangular shape in plan view, and a tab integrated with the main body 2a so as to protrude from the vicinity of one end in the longitudinal direction of the main body 2a. 2b. The main body 2a has a structure in which active material layers are formed on both surfaces of a metal foil. The main body 2a is wrapped in a bag-like separator (not shown). The tab 2b is made of a metal foil. Tab 2b is electrically connected to the positive electrode terminal of the lithium ion secondary battery.

  The positive electrode 2 is positioned between the two main surfaces 2c, 2d, the bottom edge 2e (first edge) positioned between the main surfaces 2c, 2d, and the main surfaces 2c, 2d. In addition, there are two side edges 2f (second edges) extending in the direction perpendicular to the bottom edge 2e from both ends of the bottom edge 2e toward the tab 2b. The bottom edge 2e is an edge of the positive electrode 2 opposite to the tab 2b.

  As shown in FIG. 3B, the negative electrode 3 includes a main body 3a having a rectangular shape in plan view, and a tab integrated with the main body 3a so as to protrude from the vicinity of one end in the longitudinal direction of the main body 3a. 3b. The main body 3a has a structure in which active material layers are formed on both surfaces of a metal foil. The tab 3b is made of a metal foil. The tab 3b is electrically connected to the negative electrode terminal of the lithium ion secondary battery.

  The negative electrode 3 is positioned between the two main surfaces 3c and 3d, the bottom edge 3e (first edge) positioned between the main surfaces 3c and 3d, and the main surfaces 3c and 3d. In addition, there are two side edges 3f (second edges) extending in a direction perpendicular to the bottom edge 3e from both ends of the bottom edge 3e toward the tab 3b. The bottom edge 3e is an edge of the negative electrode 3 opposite to the tab 3b.

  Returning to FIG. 1 and FIG. 2, the stacking apparatus 1 includes a positive electrode mounting unit 4 (mounting unit), a negative electrode mounting unit 5 (mounting unit), a positive electrode supply unit 6, a negative electrode supply unit 7, Part 8, defective product housing part 9, and transfer unit 10.

  The positive electrode 2 is mounted one by one on the positive electrode mounting unit 4. As shown in FIG. 4A, the positive electrode mounting portion 4 includes a mounting table 11 and a positioning wall 12 having an L-shaped cross section that is erected on the mounting table 11. The positioning wall 12 includes a wall 12a (first wall) that engages with the bottom edge 2e of the positive electrode 2, and a wall 12b (second wall) that engages with one side edge 2f of the positive electrode 2. have. In FIGS. 1 and 2, the positive electrode mounting portion 4 is shown in a simplified manner.

  The negative electrode 3 is mounted one by one on the negative electrode mounting portion 5. As shown in FIG. 4B, the negative electrode mounting portion 5 includes a mounting table 13 and a positioning wall 14 having an L-shaped cross section that is erected on the mounting table 13. The positioning wall 14 includes a wall 14a (first wall) that engages with the bottom edge 3e of the negative electrode 3, and a wall 14b (second wall) that engages with one side edge 3f of the negative electrode 3. have. In FIG. 1 and FIG. 2, the negative electrode mounting portion 5 is shown in a simplified manner.

  The positive electrode supply unit 6 supplies the positive electrode 2 conveyed by a positive electrode conveyance conveyor (not shown) to the positive electrode mounting part 4. The positive electrode supply unit 6 includes a columnar rotating body 15, an arm 16 fixed to the outer peripheral surface of the rotating body 15, and a suction pad 17 that is attached to the tip of the arm 16 and sucks and holds the positive electrode 2. And have. The rotating body 15 can be rotated around the Z axis extending in the vertical direction by a motor (not shown).

  The negative electrode supply unit 7 supplies the negative electrode 3 conveyed by a negative electrode conveyer (not shown) to the negative electrode placement unit 5. The negative electrode supply unit 7 includes a columnar rotating body 18, an arm 19 fixed to the outer peripheral surface of the rotating body 18, and a suction pad 20 that is attached to the tip of the arm 19 and sucks and holds the negative electrode 3. And have. The rotating body 18 can be rotated around the Z axis extending in the vertical direction by a motor (not shown).

  In the stacked portion 8, the positive electrodes 2 and the negative electrodes 3 are alternately stacked. The defective product storage unit 9 stores the defective positive electrode 2 and negative electrode 3. The defective product accommodating portion 9 is disposed on the opposite side of the stacked portion 8 with respect to the positive electrode placing portion 4 and the negative electrode placing portion 5, for example.

  The transfer unit 10 transfers the positive electrode 2 from the positive electrode mounting unit 4 to the stacking unit 8 and transfers the negative electrode 3 from the negative electrode mounting unit 5 to the stacking unit 8. Moreover, the transfer unit 10 accommodates the positive electrode 2 and the negative electrode 3 in the defective product housing portion 9 when the positive electrode 2 and the negative electrode 3 are defective products.

  The transfer unit 10 includes a columnar rotating body 21, an arm 22 fixed to the outer peripheral surface of the rotating body 21, and a positive electrode suction pad that is attached to the tip of the arm 22 and sucks and holds the positive electrode 2. 23 (holding portion), an arm 24 fixed to the outer peripheral surface of the rotating body 21 so as to extend in a direction perpendicular to the arm 22, and attached to the distal end portion of the arm 24 to attract and hold the negative electrode 3 Negative electrode suction pad 25 (holding part). The rotating body 21 can be rotated around the Z axis extending in the vertical direction by a motor (not shown).

  Further, as shown in FIG. 4, the stacking apparatus 1 includes a positive electrode positioning unit 26 that positions the positive electrode 2 mounted on the positive electrode mounting unit 4 at a reference position, and a negative electrode mounted on the negative electrode mounting unit 5. And a negative electrode positioning unit 27 for positioning 3 at the reference position. The reference position of the positive electrode 2 is such that the bottom edge portion 2e of the positive electrode 2 is in contact with the wall portion 12a of the positive electrode mounting portion 4, and one side edge portion 2f of the positive electrode 2 is in contact with the wall portion 12b of the positive electrode mounting portion 4. It is a position to do. The reference position of the negative electrode 3 is such that the bottom edge portion 3e of the negative electrode 3 is in contact with the wall portion 14a of the negative electrode mounting portion 5, and one side edge portion 3f of the negative electrode 3 is in contact with the wall portion 14b of the negative electrode mounting portion 5. It is a position to do.

  As shown in FIG. 4A, the positive electrode positioning unit 26 moves the positive electrode 2 to the wall portion 12a with respect to the X axis so that the bottom edge portion 2e of the positive electrode 2 contacts the wall portion 12a of the positive electrode mounting portion 4. The positive electrode pusher 28 (first pusher) that presses in the direction and one side edge 2f of the positive electrode 2 abuts against the wall 12b of the positive electrode mounting portion 4 in the Y-axis direction with respect to the wall 12b. It has a positive electrode pusher 29 (second pusher) to be pressed. Note that the X-axis direction and the Y-axis direction are directions perpendicular to the Z-axis direction. The Y-axis direction is a direction perpendicular to the X-axis direction. The positive pushers 28 and 29 have a cylinder 30 and a pressing plate 31 fixed to the tip of the rod 30 a of the cylinder 30.

  As shown in FIG. 4B, the negative electrode positioning unit 27 moves the negative electrode 3 relative to the wall portion 14a with respect to the X axis so that the bottom edge 3e of the negative electrode 3 contacts the wall portion 14a of the negative electrode mounting portion 5. A negative electrode pusher 32 (first pusher) that presses in the direction, and one side edge 3f of the negative electrode 3 contacts the wall 14b of the negative electrode mounting portion 5 in the Y-axis direction with respect to the wall 14b. It has a negative electrode pusher 33 (second pusher) to be pressed. The negative pushers 32 and 33 have a cylinder 34 and a pressing plate 35 fixed to the tip of a rod 34 a of the cylinder 34.

  Further, as shown in FIGS. 1 and 2, the stacking apparatus 1 includes a positive electrode imaging camera 36 (first imaging unit) that images one main surface 2 c of the positive electrode 2 and the other main surface 2 d of the positive electrode 2. A positive imaging camera 37 (second imaging unit) for imaging, a negative imaging camera 38 (first imaging unit) for imaging one main surface 3c of the negative electrode 3, and a negative imaging for imaging the other main surface 3d of the negative electrode 3 And a camera 39 (second imaging unit).

  The positive electrode imaging camera 36 is disposed immediately above the positive electrode mounting unit 4. The positive electrode imaging camera 37 is disposed between the positive electrode mounting unit 4 and the stacked unit 8. The negative electrode imaging camera 38 is disposed immediately above the negative electrode mounting portion 5. The negative electrode imaging camera 39 is disposed between the negative electrode mounting unit 5 and the stacked unit 8. The distance between the positive imaging camera 36 and the main surface 2c of the positive electrode 2, the distance between the positive imaging camera 37 and the main surface 2d of the positive electrode 2, the distance between the negative imaging camera 38 and the main surface 3c of the negative electrode 3, and the negative imaging camera 39 The distance from the main surface 3d of the negative electrode 3 is all equal in this embodiment.

  The laminating apparatus 1 includes a positive electrode contact sensor 40 provided on the positive electrode mounting unit 4 and a negative electrode contact sensor 41 provided on the negative electrode mounting unit 5. The positive electrode contact sensor 40 detects that the positive electrode 2 is mounted on the mounting table 11 of the positive electrode mounting unit 4 by contacting the positive electrode 2. The negative electrode contact sensor 41 detects that the negative electrode 3 is mounted on the mounting table 13 of the negative electrode mounting unit 5 by contacting the negative electrode 3. The means for detecting that the positive electrode 2 is mounted on the positive electrode mounting portion 4 is not particularly limited to the positive electrode contact sensor 40, and may be, for example, a positive electrode imaging camera 36. The means for detecting that the negative electrode 3 is mounted on the negative electrode mounting portion 5 is not particularly limited to the negative electrode contact sensor 41, and may be a negative electrode imaging camera 38, for example.

  Further, the stacking apparatus 1 includes a controller 42 as shown in FIG. The controller 42 includes a CPU, a RAM, a ROM, an input / output interface, and the like. The controller 42 includes a positioning control unit 43, a movement control unit 44, a first inspection unit 45, a second inspection unit 46, a stacking control unit 47, and a defective product processing unit 48. The positioning control unit 43, the movement control unit 44, the first inspection unit 45, the second inspection unit 46, the stacking control unit 47, and the defective product processing unit 48 are all software-like functional configurations of the controller 42.

  When the positive electrode contact sensor 40 detects that the positive electrode 2 is mounted on the mounting table 11 of the positive electrode mounting unit 4, the positioning control unit 43 positions the positive electrode 2 at the reference position (described above). The positive pushers 28 and 29 of the unit 26 are controlled. Further, when the negative electrode contact sensor 41 detects that the negative electrode 3 is placed on the mounting table 13 of the negative electrode mounting portion 5, the positioning control unit 43 positions the negative electrode 3 at the reference position (described above). The negative pushers 32 and 33 of the negative positioning unit 27 are controlled.

  The movement control unit 44 controls the transfer unit 10 to move the positive electrode 2 from the positive electrode mounting unit 4 to the stacked unit 8 after the positive electrode 2 is positioned at the reference position by the positive electrode positioning unit 26. Further, the movement control unit 44 controls the transfer unit 10 to move the negative electrode 3 from the negative electrode mounting unit 5 to the stacked unit 8 after the negative electrode 3 is positioned at the reference position by the negative electrode positioning unit 27.

  The first inspection unit 45 acquires a captured image of one main surface 2c of the positive electrode 2 imaged by the positive electrode imaging camera 36 after the positive electrode 2 is positioned at the reference position by the positive electrode positioning unit 26, and based on the captured image. The main surface 2c of the positive electrode 2 is inspected to determine whether the positive electrode 2 is defective. The first inspection unit 45 acquires a captured image of one main surface 3c of the negative electrode 3 captured by the negative electrode imaging camera 38 after the negative electrode 3 is positioned at the reference position by the negative electrode positioning unit 27, and the captured image Based on the above, the state of the main surface 3c of the negative electrode 3 is inspected to determine whether or not the negative electrode 3 is defective.

  The second inspection unit 46 acquires a captured image of the other main surface 2d of the positive electrode 2 imaged by the positive electrode imaging camera 37 after the positive electrode 2 is positioned at the reference position by the positive electrode positioning unit 26, and based on the captured image. The main surface 2d of the positive electrode 2 is inspected to determine whether the positive electrode 2 is defective. Further, the second inspection unit 46 acquires a captured image of the other main surface 3d of the negative electrode 3 captured by the negative electrode imaging camera 39 after the negative electrode 3 is positioned at the reference position by the negative electrode positioning unit 27, and the captured image Based on the above, the state of the main surface 3d of the negative electrode 3 is inspected to determine whether or not the negative electrode 3 is defective.

  The stacking control unit 47 controls the transfer unit 10 to stack the positive electrode 2 on the stacking unit 8 when the first inspection unit 45 and the second inspection unit 46 determine that the positive electrode 2 is not defective. When the first inspection unit 45 and the second inspection unit 46 determine that the negative electrode 3 is not defective, the transfer unit 10 is controlled so that the negative electrode 3 is stacked on the stacked unit 8.

  When the first inspection unit 45 or the second inspection unit 46 determines that the positive electrode 2 is defective, the defective product processing unit 48 moves the transfer unit 10 so that the positive electrode 2 is stored in the defective product storage unit 9. And the transfer unit 10 is controlled so that the negative electrode 3 is accommodated in the defective product accommodating portion 9 when the first inspection unit 45 or the second inspection unit 46 determines that the negative electrode 3 is defective. To do.

  FIG. 6 is a flowchart showing details of the positive electrode 2 stacking process procedure executed by the controller 42. In FIG. 6, the controller 42 first determines whether or not the positive electrode 2 is placed on the mounting table 11 of the positive electrode mounting portion 4 based on the detection signal of the positive electrode contact sensor 40 (step S <b> 101). When the controller 42 determines that the positive electrode 2 is mounted on the mounting table 11, the controller 42 controls the positive pushers 28 and 29 to position the positive electrode 2 at the reference position (step S102).

  Subsequently, the controller 42 controls the positive electrode imaging camera 36 so as to image one main surface 2c of the positive electrode 2 in a state where the positive electrode 2 is positioned at the reference position (step S103). And the controller 42 acquires the picked-up image of the main surface 2c of the positive electrode 2 imaged in the state in which the positive electrode 2 was positioned in the reference position (step S104). Subsequently, the controller 42 controls the transfer unit 10 to suck and hold the positive electrode 2 on the positive electrode suction pad 23 (step S105).

  Subsequently, the controller 42 determines whether or not the positive electrode 2 is a defective product by inspecting the state of the main surface 2c of the positive electrode 2 based on the captured image of the main surface 2c of the positive electrode 2 (step S106). Specifically, the controller 42 determines that the positive electrode 2 is defective when the main surface 2c of the positive electrode 2 has scratches or foreign matter, and the scratch or foreign matter does not exist on the main surface 2c of the positive electrode 2 Determines that the positive electrode 2 is not defective.

  When the controller 42 determines that the positive electrode 2 is not defective, the controller 42 controls the transfer unit 10 to move the positive electrode 2 from the positive electrode mounting unit 4 to the stacking unit 8 (step S107). Subsequently, the controller 42 controls the positive electrode imaging camera 37 so as to image the other main surface 2d of the positive electrode 2 during the movement of the positive electrode 2 from the positive electrode mounting unit 4 to the stacked unit 8 (step S108). And the controller 42 acquires the picked-up image of 2 d of main surfaces of the positive electrode 2 imaged during the movement of the positive electrode 2 from the positive electrode mounting part 4 to the lamination | stacking part 8 (procedure S109).

  Subsequently, the controller 42 determines whether or not the positive electrode 2 is a defective product by inspecting the state of the main surface 2d of the positive electrode 2 based on the captured image of the main surface 2d of the positive electrode 2 (step S110). Specifically, the controller 42 determines that the positive electrode 2 is defective when the main surface 2d of the positive electrode 2 has scratches or foreign matter, and the scratch or foreign matter does not exist on the main surface 2d of the positive electrode 2 Determines that the positive electrode 2 is not defective.

  When the controller 42 determines that the positive electrode 2 is not defective, in the state where the positive electrode 2 has reached the position directly above the stacked portion 8, the controller 42 releases the positive electrode 2 from holding the positive electrode 2 by adsorbing the positive electrode 2. The transfer unit 10 is controlled to be stacked on the stacking unit 8 (step S111). And the controller 42 performs said procedure S101 again.

  When the controller 42 determines in Step S106 or Step S110 that the positive electrode 2 is a defective product, the controller 42 controls the transfer unit 10 so as to move the positive electrode 2 to the defective product container 9, and then moves to the positive electrode suction pad 23. The transfer unit 10 is controlled so that the positive electrode 2 is released from the suction holding and the positive electrode 2 is accommodated in the defective product accommodating portion 9 (step S112). And the controller 42 performs said procedure S101 again.

  FIG. 7 is a flowchart showing details of the negative electrode 3 stacking process procedure executed by the controller 42. In FIG. 7, the controller 42 first determines whether or not the negative electrode 3 is placed on the mounting table 13 of the negative electrode mounting portion 5 based on the detection signal of the negative electrode contact sensor 41 (step S121). When the controller 42 determines that the negative electrode 3 is mounted on the mounting table 13, the controller 42 controls the negative pushers 32 and 33 so as to position the negative electrode 3 at the reference position (step S122).

  Subsequently, the controller 42 controls the negative electrode imaging camera 38 so as to image one main surface 3c of the negative electrode 3 in a state where the negative electrode 3 is positioned at the reference position (step S123). And the controller 42 acquires the picked-up image of the main surface 3c of the negative electrode 3 imaged in the state in which the negative electrode 3 was positioned in the reference position (step S124). Subsequently, the controller 42 controls the transfer unit 10 to suck and hold the negative electrode 3 on the negative electrode suction pad 25 (step S125).

  Subsequently, the controller 42 determines whether or not the negative electrode 3 is a defective product by inspecting the state of the main surface 3c of the negative electrode 3 based on the captured image of the main surface 3c of the negative electrode 3 (step S126). Specifically, the controller 42 determines that the negative electrode 3 is defective when the main surface 3c of the negative electrode 3 has scratches or foreign matter, and the scratch or foreign matter does not exist on the main surface 3c of the negative electrode 3 Determines that the negative electrode 3 is not defective.

  When the controller 42 determines that the negative electrode 3 is not defective, the controller 42 controls the transfer unit 10 to move the negative electrode 3 from the negative electrode mounting portion 5 to the stacked portion 8 (step S127). Subsequently, the controller 42 controls the negative electrode imaging camera 39 so as to image the other main surface 3d of the negative electrode 3 during the movement of the negative electrode 3 from the negative electrode mounting unit 5 to the stacked unit 8 (step S128). And the controller 42 acquires the picked-up image of 3 d of main surfaces of the negative electrode 3 imaged during the movement of the negative electrode 3 from the negative electrode mounting part 5 to the lamination | stacking part 8 (procedure S129).

  Subsequently, the controller 42 determines whether or not the negative electrode 3 is a defective product by inspecting the state of the main surface 3d of the negative electrode 3 based on the captured image of the main surface 3d of the negative electrode 3 (step S130). Specifically, the controller 42 determines that the negative electrode 3 is defective when the main surface 3d of the negative electrode 3 has scratches or foreign matter, and the scratch or foreign matter does not exist on the main surface 3d of the negative electrode 3 Determines that the negative electrode 3 is not defective.

  When the controller 42 determines that the negative electrode 3 is not defective, in the state where the negative electrode 3 has reached the position directly above the stacked portion 8, the negative electrode 3 is released from the adsorption holding of the negative electrode adsorption pad 25 and the negative electrode 3 is removed. The transfer unit 10 is controlled to be stacked on the stacking unit 8 (step S131). And the controller 42 performs said procedure S121 again.

  When the controller 42 determines in Step S126 or Step S130 that the negative electrode 3 is a defective product, the controller 42 controls the transfer unit 10 to move the negative electrode 3 to the defective product storage unit 9, and then moves to the negative electrode suction pad 25. Then, the transfer unit 10 is controlled so that the negative electrode 3 is released from the adsorption holding and the negative electrode 3 is accommodated in the defective product accommodating portion 9 (step S132). And the controller 42 performs said procedure S121 again.

  In the laminating process of the positive electrode 2 and the negative electrode 3 as described above, when the main surface 2c of the positive electrode 2 is imaged by the positive electrode imaging camera 36 in a state where the positive electrode 2 is positioned at the reference position, the negative electrode 3 is stacked on the laminated portion 8. Is laminated. Further, when the main surface 3 c of the negative electrode 3 is imaged by the negative electrode camera 38 in a state where the negative electrode 3 is positioned at the reference position, the positive electrode 2 is stacked on the stacked unit 8. Thereby, since the positive electrode 2 and the negative electrode 3 are efficiently stacked on the stacked portion 8, the stacking time of the positive electrode 2 and the negative electrode 3 is shortened.

  Here, the positioning control unit 43 executes the above steps S101 and S102 and the steps S121 and S122. The movement control unit 44 executes steps S105 and S107 and steps S125 and S127 described above. The first inspection unit 45 executes the procedures S103, S104, S106 and the procedures S123, S124, S126. The second inspection unit 46 executes the above steps S108 to S110 and steps S128 to S130. The stacking control unit 47 executes the above-described procedure S111 and procedure S131. The defective product processing unit 48 executes the above-described procedure S112 and procedure S132.

  As described above, in the present embodiment, after the positive electrode 2 mounted on the positive electrode mounting unit 4 is positioned at the reference position by the positive electrode positioning unit 26, the main surface of the positive electrode 2 is detected by the positive electrode imaging cameras 36 and 37. 2c and 2d are respectively imaged, and based on the captured images, the state of the main surfaces 2c and 2d of the positive electrode 2 is inspected to determine whether or not the positive electrode 2 is defective. In addition, after the negative electrode 3 placed on the negative electrode placement unit 5 is positioned at the reference position by the negative electrode positioning unit 27, the main surfaces 3c and 3d of the negative electrode 3 are imaged by the negative electrode imaging cameras 38 and 39, respectively. Based on the image, the state of the main surfaces 3c and 3d of the negative electrode 3 is inspected to determine whether or not the negative electrode 3 is defective. Therefore, based on the captured images of the main surfaces 2c and 2d of the positive electrode 2 and the main surfaces 3c and 3d of the negative electrode 3, the state inspection and the reference position of the main surfaces 2c and 2d of the positive electrode 2 and the main surfaces 3c and 3d of the negative electrode 3 are performed. The angle of view of the positive imaging cameras 36 and 37 and the negative imaging cameras 38 and 39 is reduced compared with the case where the positional deviations of the positive and negative electrodes 3 and 3 are recognized with respect to the positive imaging cameras 36 and 37 and the negative imaging. The imaging area of the cameras 38 and 39 can be narrowed. In other words, since the entire imaging devices of the positive imaging cameras 36 and 37 and the negative imaging cameras 38 and 39 can be used for photographing the main surfaces 2c and 2d of the positive electrode 2 and the main surfaces 3c and 3d of the negative electrode 3, the main surface of the positive electrode 2 The state of 2c, 2d and the main surfaces 3c, 3d of the negative electrode 3 can be inspected precisely. Thereby, the quality determination of the positive electrode 2 and the negative electrode 3 can be performed accurately.

  In the present embodiment, the main surface 2c of the positive electrode 2 is imaged by the positive electrode imaging camera 36 with the positive electrode 2 mounted on the positive electrode mounting unit 4 positioned at the reference position, and the negative electrode mounting unit. The main surface 3c of the negative electrode 3 is imaged by the negative electrode imaging camera 38 in a state where the negative electrode 3 placed on 5 is positioned at the reference position. Therefore, when the first inspection unit 45 determines that the positive electrode 2 is a defective product, the positive electrode 2 does not have to be moved from the positive electrode mounting unit 4 to the stacked unit 8, and the negative electrode 3 is processed by the second inspection unit 46. Therefore, it is not necessary to move the negative electrode 3 from the negative electrode mounting portion 5 to the stacked portion 8. Thereby, useless processing can be omitted.

  In addition, during the movement of the positive electrode 2 from the positive electrode mounting unit 4 to the stacked unit 8, the main surface 2 d of the positive electrode 2 is imaged by the positive electrode imaging camera 37 and the negative electrode 3 from the negative electrode mounting unit 5 to the stacked unit 8. 3d, the main surface 3d of the negative electrode 3 is imaged by the negative electrode imaging camera 39. Therefore, the positive electrode 2 does not need to be stopped once to image the main surface 2d of the positive electrode 2 by the positive electrode imaging camera 37, and the negative electrode 3 is temporarily stopped to image the main surface 3d of the negative electrode 3 by the negative electrode imaging camera 39. You don't have to. Thereby, it is possible to speed up the lamination of the positive electrode 2 and the negative electrode 3.

  In the present embodiment, when the first inspection unit 45 or the second inspection unit 46 determines that the positive electrode 2 is a defective product, the positive electrode 2 is stored in the defective product storage unit 9 and the first inspection is performed. When the negative electrode 3 is determined to be defective by the unit 45 or the second inspection unit 46, the negative electrode 3 is stored in the defective product storage unit 9. Therefore, since the defective positive electrode 2 and negative electrode 3 are collected in the defective product accommodating portion 9, the defective product can be easily processed.

  In the present embodiment, the positive electrode 2 is pressed at the reference position by pressing the positive electrode 2 against the wall portions 12 a and 12 b of the positive electrode mounting portion 4 by the positive electrode pushers 28 and 29. Therefore, the positive electrode 2 mounted on the positive electrode mounting portion 4 can be easily and reliably positioned at the reference position. Further, the negative electrode 3 is positioned at the reference position by pressing the negative electrode 3 against the wall portions 14 a and 14 b of the negative electrode mounting portion 5 by the negative electrode pushers 32 and 33. Therefore, the positive electrode 2 mounted on the negative electrode mounting portion 5 can be easily and reliably positioned at the reference position.

  The present invention is not limited to the above embodiment. For example, in the above embodiment, the main surface 2c of the positive electrode 2 is imaged by the positive electrode imaging camera 36 in a state where the positive electrode 2 mounted on the positive electrode mounting portion 4 is positioned at the reference position. Is not limited. For example, after the positive electrode 2 mounted on the positive electrode mounting unit 4 is positioned at the reference position, the positive electrode 2 is moved from the positive electrode mounting unit 4 to the stacking unit 8 by the positive electrode imaging camera 36. The surface 2c may be imaged, or the main surface 2c of the positive electrode 2 is imaged by the positive electrode imaging camera 36 in a state where the positive electrode 2 is temporarily stopped when the positive electrode 2 is moved from the positive electrode mounting unit 4 to the stacking unit 8. May be. The same applies to the imaging time of the main surface 3c of the negative electrode 3 by the negative electrode camera 38.

  Moreover, in the said embodiment, while moving the positive electrode 2 from the positive electrode mounting part 4 to the lamination | stacking part 8, the main surface 2d of the positive electrode 2 is imaged with the positive electrode imaging camera 37, However, It is limited to the form especially. Absent. For example, the main surface 2d of the positive electrode 2 may be imaged by the positive electrode imaging camera 37 while the positive electrode 2 is temporarily stopped when the positive electrode 2 is moved from the positive electrode mounting unit 4 to the stacked unit 8. The same applies to the imaging time of the main surface 3d of the negative electrode 3 by the negative electrode imaging camera 39.

  In the above embodiment, when the positive electrode 2 placed on the positive electrode placement unit 4 is positioned at the reference position by the positive electrode positioning unit 26, the positive electrode 2 is placed on the wall 12 a of the positive electrode placement unit 4 by the positive electrode pusher 28. The positive electrode pusher 29 presses the positive electrode 2 against the wall portion 12b of the positive electrode mounting portion 4, but the configuration of the positive electrode positioning unit 26 is not particularly limited thereto. For example, the positive electrode pusher for setting the reference position is disposed so as to face the positive electrode pusher 29 without providing the wall portion 12 b in the positive electrode mounting portion 4, and the positive electrode 2 is pressed against the wall portion 12 a by the positive electrode pusher 28. The positive electrode 2 may be pressed against the positive electrode pusher for setting the reference position by the positive electrode pusher 29. The same applies to the configuration of the negative electrode positioning unit 27.

  Furthermore, in the above embodiment, the transfer unit 10 is provided with the two arms 22 and 24, but the number of arms in the transfer unit 10 may be only one. In this case, after the positive electrode 2 is stacked on the stacked unit 8, the negative electrode 3 is sucked and held on the negative electrode suction pad 25 of the transfer unit 10, and the transfer unit is stacked after the negative electrode 3 is stacked on the stacked unit 8. The positive electrode 2 is adsorbed and held on the ten positive electrode adsorption pads 23.

  In the above embodiment, the distances between the positive imaging cameras 36 and 37 and the negative imaging cameras 38 and 39 and the main surfaces of the electrodes are all equal, but the present invention is not limited thereto. For example, the distances between the positive electrode imaging camera 36 and the negative electrode imaging camera 38 and the main surface of the electrode may be longer than the distances between the positive electrode imaging camera 37 and the negative electrode imaging camera 39 and the main surface of the electrode. In this case, the lenses of the positive imaging camera 36 and the negative imaging camera 38 are adjusted so that the angles of view of the positive imaging camera 36 and the negative imaging camera 38 are narrower than those of the positive imaging camera 37 and the negative imaging camera 39. Thus, also in the positive imaging camera 36 and the negative imaging camera 38, the entire imaging device is used for imaging the main surface of the electrode.

  Moreover, in the said embodiment, although the positive electrode 2 and the negative electrode 3 which were wrapped in the bag-shaped separator are laminated | stacked, this invention is not restricted to it in particular, A positive electrode, a negative electrode, and a sheet-like separator are laminated | stacked. You may apply to a lamination apparatus. In this case, a separator mounting portion is added as a laminating apparatus, and lamination is performed in the order of the negative electrode, the separator, the positive electrode, the separator, and the negative electrode.

  Moreover, in the said embodiment, although the electrode (positive electrode 2 and negative electrode 3) of a lithium ion secondary battery is laminated | stacked on the lamination | stacking part 8, this invention is not restricted to a lithium ion secondary battery especially, For example, nickel hydrogen The present invention can also be applied to other secondary batteries such as batteries, and stacks of electrodes such as electric double layer capacitors or lithium ion capacitors. The present invention can also be applied to stacking workpieces other than electrodes.

  DESCRIPTION OF SYMBOLS 1 ... Laminating apparatus, 2 ... Positive electrode (work), 2c, 2d ... Main surface, 2e ... Bottom edge, 2f ... Side edge, 3 ... Negative electrode (work), 3c, 3d ... Main surface, 3e ... Bottom edge 3... Side edge portion, 4... Positive electrode mounting portion (mounting portion), 5... Negative electrode mounting portion (mounting portion), 8. ... mounting table, 12a ... wall (first wall), 12b ... wall (second wall), 13 ... mounting table, 14a ... wall (first wall), 14b ... wall (second wall) Part), 23 ... positive electrode suction pad (holding part), 25 ... negative electrode suction pad (holding part), 26 ... positive electrode positioning unit (positioning unit), 27 ... negative electrode positioning unit (positioning unit), 28 ... positive electrode pusher (first) Pusher), 29 ... Positive pusher (second pusher), 32 ... Negative pusher (first pusher), 33 ... Polar pusher (second pusher), 36... Positive electrode imaging camera (first imaging unit), 37... Positive electrode imaging camera (second imaging unit), 38 .. negative electrode imaging camera (first imaging unit), 39. (Second imaging unit), 43 ... positioning control unit, 44 ... movement control unit, 45 ... first inspection unit, 46 ... second inspection unit, 47 ... stacking control unit, 48 ... defective product processing unit.

Claims (4)

A placement part on which a work having two main surfaces is placed;
A laminating portion where the workpieces are laminated;
A holding unit that holds the workpiece, and a transfer unit that transfers the workpiece from the placement unit to the stacked unit;
A first imaging unit that images one main surface of the workpiece;
A second imaging unit that images the other main surface of the workpiece;
A positioning unit for positioning the workpiece placed on the placing portion at a reference position;
After the workpiece is positioned at the reference position by the positioning unit, a movement control unit that controls the transfer unit to move the workpiece from the placement unit to the stacking unit;
After the workpiece is positioned at the reference position by the positioning unit, a captured image of one principal surface of the workpiece captured by the first imaging unit is acquired, and based on the captured image of one principal surface of the workpiece First inspecting the state of one main surface of the workpiece to determine whether the workpiece is defective,
After the workpiece is positioned at the reference position by the positioning unit, a captured image of the other principal surface of the workpiece captured by the second imaging unit is acquired, and based on the captured image of the other principal surface of the workpiece A second inspection unit that determines whether the workpiece is defective by inspecting the state of the other main surface of the workpiece,
A stacking control unit that controls the transfer unit so as to stack the workpiece on the stacking unit when the workpiece is determined not to be defective by the first inspection unit and the second inspection unit. A laminating apparatus characterized by the above. The first inspection unit acquires a captured image of one main surface of the workpiece imaged by the first imaging unit in a state where the workpiece is positioned at the reference position by the positioning unit;
The movement control unit controls the transfer unit to move the workpiece from the placement unit to the stacking unit when the first inspection unit determines that the workpiece is not defective.
The second inspection unit acquires a captured image of the other main surface of the workpiece imaged by the second imaging unit during the movement of the workpiece from the placement unit to the stacking unit. The laminating apparatus according to claim 1. A defective product storage section for storing defective workpieces;
When the first inspection unit or the second inspection unit determines that the workpiece is a defective product, the defective product processing unit controls the transfer unit to store the workpiece in the defective product storage unit. The laminating apparatus according to claim 1, further comprising: The workpiece is positioned between the two main surfaces and a first edge located between the two main surfaces, and is perpendicular to the first edge from one end of the first edge. A second edge extending in the direction,
The mounting portion is erected on the mounting table, the first wall portion that is erected on the mounting table and engages with the first edge portion, the erection portion that is erected on the mounting table and engages with the second edge portion. A second wall,
The positioning unit includes a first pusher that presses the workpiece against the first wall portion so that the first edge portion contacts the first wall portion, and the second edge portion includes the second wall portion. The laminating apparatus according to any one of claims 1 to 3, further comprising a second pusher that presses the workpiece against the second wall so as to come into contact.

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