KR102453520B1 - Stack apparatus and stack method using the same - Google Patents

Abstract

The embodiment includes a loading unit in which a plurality of objects are accommodated; a transfer unit spaced apart from the loading unit; a first pickup unit that picks up a plurality of objects accommodated in the loading unit and arranges them in the transfer unit; a second pickup unit and a third pickup unit configured to alternately pick up a plurality of objects disposed on the transfer unit; and a stage for alternately stacking the object by the second pickup unit and the third pickup unit, and a lamination method using the same.

Description

Stacking apparatus and stacking method using the same

The embodiment relates to a lamination apparatus and a lamination method using the same.

In general, a chemical cell is a battery composed of a pair of electrodes and an electrolyte of a positive and negative plate, and the amount of energy that can be stored varies depending on the materials constituting the electrode and the electrolyte. These chemical batteries have a very slow charging reaction, so they are divided into primary batteries used only for one-time discharge and secondary batteries that can be reused through repeated charging and discharging. is in an increasing trend.

Due to their advantages, secondary batteries are being applied to various technical fields throughout the industry. For example, they are widely used as energy sources for advanced electronic devices such as wireless mobile devices, as well as conventional gasoline and diesel internal combustion using fossil fuels. It is also attracting attention as an energy source for hybrid electric vehicles, which are being proposed as a way to solve air pollution in institutions.

The battery cell of the secondary battery can be manufactured by stacking a plurality of objects on which a positive electrode plate, a separator, and a negative electrode plate are sequentially stacked using a stacking device. However, the conventional lamination apparatus has a problem in that the stacking speed is slow because one pickup apparatus repeats the pickup and stacking of the object.

Embodiments may provide a laminating apparatus and a laminating method having a fast lamination speed of an object.

The problem to be solved in the embodiment is not limited thereto, and it will be said that the purpose or effect that can be grasped from the solving means or embodiment of the problem described below is also included.

A stacking apparatus according to one aspect of the present invention includes: a loading unit in which a plurality of objects are accommodated; a transfer unit spaced apart from the loading unit; a first pickup unit that picks up a plurality of objects accommodated in the loading unit and arranges them in the transfer unit; a second pickup unit and a third pickup unit configured to alternately pick up a plurality of objects disposed on the transfer unit; and a stage in which the second pickup unit and the third pickup unit alternately stack the object.

The loading unit may include: a first loading unit in which a plurality of objects are accommodated; a second loading unit accommodating a plurality of objects; a lifting unit for elevating the plurality of objects accommodated in the first loading unit or the second loading unit; a rotating part for rotating the first loading part and the second loading part; and a suction unit for sucking dust in the first loading unit and the second loading unit.

The first loading unit may include: a first fixing frame in which a plurality of objects are accommodated; a second fixing frame in which a plurality of objects are accommodated; and a first case surrounding the first fixing frame and the second fixing frame, wherein the second loading unit includes: a third fixing frame accommodating a plurality of objects; a fourth fixing frame for accommodating a plurality of objects; and a second case surrounding the third fixing frame and the fourth fixing frame, wherein the suction unit may suck dust scattered inside the first case and the second case.

The first pickup unit may include: a first adsorption unit for adsorbing the object accommodated in the first fixing frame; a second adsorption unit for adsorbing the object accommodated in the second fixing frame; a vibrating unit for applying vibrations to the first and second adsorption units; and a moving member for moving the first adsorption unit and the second adsorption unit to the transfer unit.

It may include a first collection module disposed between the loading unit and the transfer unit to collect the falling object while moving from the loading unit to the transfer unit.

The first collection module includes a space in which a camera is accommodated, a guide plate including a transparent window disposed on the upper portion of the space, and a receiving groove for accommodating the object, wherein the transparent window moves the object into the receiving groove. It may have a curvature to slide.

The transfer unit may include a suction channel for adsorbing a plurality of moving objects.

and a sensor disposed on the transfer unit to detect an object in which two sheets are stacked among the plurality of objects.

a first camera configured to detect a first image of a first object disposed on an uppermost layer among a plurality of objects disposed on the stage; a second camera picked up by the second pickup unit or the third pickup unit to detect a second image of a second object to be disposed on top of the first object; and a controller that calculates an alignment error value between the first image and the second image, and moves the stage based on the calculated alignment error value.

The control unit may move the stage so that the first image and the second image are aligned before the second pickup unit or the third pickup unit picks up the second object and arranges it on the stage.

a first camera configured to detect a first image of a first object disposed on an uppermost layer among a plurality of objects disposed on the stage; a second camera picked up by the second pickup unit or the third pickup unit to detect a second image of a second object to be disposed on top of the first object; and a control unit for calculating an alignment error value between the first image and the second image, and correcting a stacking position of the second pickup unit or the third pickup unit based on the calculated alignment error value.

It may include a second collection module for collecting the falling object while moving from the transfer unit to the stage.

A stacking method according to one aspect of the present invention includes: transferring a plurality of objects stacked on a loading unit by a first pickup unit to a conveying unit; and alternately picking up the object on the transfer unit by a second pickup unit and a third pickup unit and stacking the objects on a stage.

According to the embodiment, it is possible to shorten the manufacturing time by providing a laminating apparatus and a laminating method having a high lamination speed.

Various and advantageous advantages and effects of the present invention are not limited to the above, and will be more easily understood in the course of describing specific embodiments of the present invention.

1 is a view showing a secondary battery manufacturing system according to an embodiment of the present invention,
2 is a view showing a lamination device according to an embodiment of the present invention,
3A is a view showing a process in which the first pickup unit picks up the object disposed on the first loading unit;
Figure 3b is a plan view of the first loading part,
4 is a view showing a first collection module,
5A and 5B are views showing a process of alternately picking up an object by a second pickup unit and a third pickup unit and stacking them on a stage;
6 is a view showing a process in which the second pickup unit picks up an object;
7 is a view showing a process in which the first camera and the second camera take images of the first object and the second object;
8 is a view showing a state in which the first image of the first object and the second image of the second object are misaligned;
9 is a view showing a process of changing the position of the first object by moving the stage;
10 is a view showing a state in which the first image of the first object and the second image of the second object are aligned;
11 is a view showing a state in which a second object is stacked on a first object;
12 is a flowchart of a manufacturing method according to an embodiment of the present invention.

Since the present invention may have various changes and may have various embodiments, specific embodiments will be illustrated and described in the drawings. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms including an ordinal number such as second, first, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the second component may be referred to as the first component, and similarly, the first component may also be referred to as the second component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, the embodiment will be described in detail with reference to the accompanying drawings, but the same or corresponding components are given the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted.

1 is a view showing a secondary battery manufacturing system according to an embodiment of the present invention, Figure 2 is a view showing a stacking device according to an embodiment of the present invention.

Referring to FIG. 1 , the secondary battery manufacturing system according to the embodiment receives a first transfer line 10 and a plurality of objects P1 supplied from the first transfer line 10 and stacked to manufacture a battery cell P2 . Inspecting the stacking devices 20, 30, 40, the second transfer line 70 through which the battery cell P2 is transferred, the taping part 50 sealing the battery cell P2, and the battery cell P2 The inspection unit 60 may be included.

The first transfer line 10 may be a line for supplying the plurality of objects P1 to the plurality of stacking devices 20 , 30 , and 40 . The object P1 may be a unit cell composed of a positive electrode plate P31 , a separator P32 , and a negative electrode plate P33 . Alternatively, the object P1 may be a unit cell in which a positive electrode plate P31 , a first separator P32 , a negative electrode plate P33 , and a second separator P34 are sequentially stacked. A plurality of such objects P1 may be stacked to configure the battery cell P2 .

The main controller 80 may control the first transfer line 10 to supply the object P1 to the lamination apparatus in which the object P1 is exhausted from among the plurality of lamination devices 20 , 30 , and 40 .

The plurality of stacking devices 20 , 30 , and 40 may stack the object P1 to manufacture the battery cell P2 . The manufactured battery cell P2 may be moved along the second transfer line 70 to perform a subsequent operation. According to the embodiment, since the plurality of stacking devices 20 , 30 , and 40 each manufacture the battery cell P2 , the working speed may be improved.

The taping unit 50 may tap and seal the transferred battery cells P2 , and the inspection unit 60 may inspect the stacked battery cells P2 . Exemplarily, the inspection unit 60 may inspect the battery cell P2 through a charge/discharge test, but the inspection method and type of inspection are not particularly limited.

In the embodiment, a system for manufacturing a secondary battery by laminating the object P1 has been exemplarily described, but the lamination device may be applied to making various laminates other than the secondary battery.

Referring to FIG. 2 , the stacking apparatus according to the embodiment includes a loading unit 120 on which a plurality of objects P1 are stacked, a transfer unit 130 for transferring a plurality of objects P1 , and a loading unit 120 stored in the loading unit 120 . A first pickup unit 110 that picks up a plurality of objects P1 and arranges them on the transfer unit 130 , and a second pickup unit 140 that alternately picks up a plurality of objects P1 arranged on the transfer unit 130 . and a third pickup unit 150 , and a stage 181 in which the second pickup unit 140 and the third pickup unit 150 alternately stack the object P1 .

The loading unit 120 includes a first loading unit 121 accommodating a plurality of objects P1 , a second loading unit 122 accommodating a plurality of objects P1 , a first loading unit 121 or a second A lifting unit 125 for elevating the plurality of objects P1 accommodated in the loading unit 122 , a rotating unit 124 for rotating the first loading unit 121 and the second loading unit 122 , and a first loading unit It may include a suction unit for sucking the dust in the unit 121 and the second loading unit 122 .

The first loading unit 121 includes a first fixing frame 121a in which a plurality of objects P1 are accommodated, a second fixing frame 121b in which a plurality of objects P1 are accommodated, a first fixing frame 121a and a second fixing frame. A first case 121c surrounding the 121b may be included. The first case 121c may prevent dust scattered from the first fixing frame 121a and the second fixing frame 121b from spreading to the outside.

The second loading unit 122 includes a third fixing frame 122a accommodating a plurality of objects P1, a fourth fixing frame 122b accommodating a plurality of objects P1, a third fixing frame 122a and a fourth fixing frame. A second case 122c surrounding the 122b may be included. The second case 122c may prevent the dust scattered from the third fixing frame 122a and the fourth fixing frame 122b from spreading to the outside.

The lifting unit 125 senses the height of the object P1 disposed on the uppermost floor using a sensor (not shown), and when the first pickup unit 110 picks up the object P1 disposed on the uppermost floor, then The object P1 may be raised or lowered to a predetermined height. The lifting unit 125 may be connected to the lifting motor 126 .

The lifting unit 125 may operate by being coupled to the first loading unit 121 or the second loading unit 122 . Exemplarily, when the lifting unit 125 is coupled to the first loading unit 121, the lifting unit 125 lifts and lowers the object P1 accommodated in the first fixing frame 121a and the second fixing frame 121b. can

Thereafter, when the object P1 accommodated in the first fixing frame 121a and the second fixing frame 121b is exhausted, the first loading unit 121 and the second loading unit 122 are rotated by the rotating unit 124 . By doing so, the positions of the first loading unit 121 and the second loading unit 122 may be changed.

Accordingly, the lifting unit 125 may be coupled to the second loading unit 122 to elevate the object P1 accommodated in the third fixing frame 122a and the fourth fixing frame 122b. The first loading unit 121 in which the object P1 is exhausted may be supplied with the plurality of objects P1 again through the above-described first transfer line.

The first pickup unit 110 includes a first adsorption unit 113 for adsorbing the object P1 accommodated in the first fixing frame 121a, and a second suction unit 113 for adsorbing the object P1 accommodated in the second fixing frame 121b. The adsorption unit 114 , the vibrating unit 112 for applying vibration to the first adsorption unit 113 and the second adsorption unit 114 , and a transfer unit for the first adsorption unit 113 and the second adsorption unit 114 . It may include a moving member 111 to move to (130). The moving member 111 may include various moving means including a motor and a gear.

According to an embodiment, the first pickup unit 110 may transmit the two objects P1 to the transfer unit 130 at once by using the first adsorption unit 113 and the second adsorption unit 114 . Therefore, the working time can be quickened. However, the present invention is not limited thereto, and the first pickup unit 110 may include three or more adsorption units.

The transfer unit 130 may be a conveyor belt, but is not limited thereto, and various transfer means capable of continuously transferring the object P1 may be applied.

A suction channel 132 may be disposed in the transfer unit 130 so that the position of the transferred object P1 is not shifted. Accordingly, since the object P1 moves in a state fixed to the transfer unit 130 by the suction channel 132 , the position may be prevented from being shifted.

A sensor 131 for detecting whether two stacks of the object P1 may be disposed on the transfer unit 130 . Accordingly, the object P1 in which two sheets are stacked by the sensor 131 may be collected by the second collection module 192 without being picked up by the second pickup unit 140 and the third pickup unit 150 . The second collection module 192 may be disposed between the transfer unit 130 and the stage 181 .

A lower camera 191a may be disposed between the loading unit 120 and the transfer unit 130 . The lower camera 191a may inspect the separation film of the object P1. Exemplarily, the lower camera 191a may inspect whether the separator is damaged or whether the separator includes both the first separator and the second separator. The lower camera 191a may be disposed in the first collection module 191, but is not limited thereto, and may be disposed at another location.

The second pickup unit 140 and the third pickup unit 150 may alternately pick up a plurality of objects P1 disposed on the transfer unit 130 and stack them on the stage 181 . Accordingly, the stacking speed can be increased to shorten the manufacturing time. However, the present invention is not necessarily limited thereto, and three or more pickup units may alternately stack the object P1 on the stage 181 .

The first camera 162 may detect an image of the object P1 disposed on the uppermost layer among the plurality of objects P1 disposed on the stage 181 . Also, the second camera 161 may detect an image of the object P1 to be picked up by the second pickup unit 140 or the third pickup unit 150 to be disposed on the first object P1. . Various image acquisition devices capable of acquiring images may be applied to the first camera 162 and the second camera 161 .

A driving unit 185 may be disposed below the stage 181 . The driving unit 185 may include a first driving unit 182 movable in the X-axis, a second driving unit 183 movable in the R-axis (rotational), and a third driving unit 184 movable in the Z-axis.

The control unit 170 includes a loading unit 120 , a transfer unit 130 , a first pickup unit 110 , a second pickup unit 140 , a third pickup unit 150 , a first camera 162 , and a second camera. The battery cell P2 may be manufactured by stacking the plurality of objects P1 on the stage 181 by controlling the 161 and the driving unit 185 .

3A is a view showing a process in which the first pickup unit picks up an object disposed on the first loading unit, FIG. 3B is a plan view of the first loading unit, and FIG. 4 is a view showing the first collection module.

3A and 3B , the first loading unit 121 includes a first fixing frame 121a in which the plurality of objects P1 are accommodated, a second fixing frame 121b in which the plurality of objects P1 are accommodated, and the second A first case 121c surrounding the first fixing frame 121a and the second fixing frame 121b may be included. The first case 121c may prevent the dust dt1 scattered from the first fixing frame 121a and the second fixing frame 121b from spreading to the outside. The dust dt1 scattered inside the first case 121c may be sucked by the suction unit 127 disposed below.

The first pickup unit 110 includes a first adsorption unit 113 for adsorbing the object P1 accommodated in the first fixing frame 121a, and a second suction unit 113 for adsorbing the object P1 accommodated in the second fixing frame 121b. The adsorption unit 114 , the vibrating unit 112 for applying vibration to the first adsorption unit 113 and the second adsorption unit 114 , and a transfer unit for the first adsorption unit 113 and the second adsorption unit 114 . It may include a moving member 111 to move to (130).

In the first pickup unit 110 , the vibrating unit 112 is attached to the first adsorption unit 113 and the second adsorption unit 114 to remove the dust dt1 of the object P1 and prevent the two sheets from being adsorbed. vibration can be applied. In this process, as the object P1 is shaken, the dust dt1 may fall into the first case 121c.

Referring to FIG. 3B , the first fixing frame 121a and the second fixing frame 121b may support only the edge of the object P1, not the entire side surface of the object P1.

The dust attached to the object P1 may fall into the inside of the first case 121c and be sucked by the suction unit. Accordingly, it is possible to prevent the dust dt1 from adsorbing to the object P1 accommodated in the first loading unit 121 . The second loading unit 122 may also have the same configuration.

Referring to FIG. 4 , while the first pickup unit 110 moves from the loading unit 120 to the transfer unit 130 , the lower camera 191a may inspect the separation membrane. At this time, the object P1 being transferred from the loading unit 120 to the transfer unit 130 may fall. In this case, any one of the first electrode, the separator, and the second electrode of the object P1 may be detached, or when the two objects P1 are adsorbed, the object P1 attached to the lower portion may fall off.

The first collection module 191 includes a space portion 191e in which the lower camera 191a is accommodated, a guide plate 191b including a transparent window 191c disposed on an upper portion of the space portion 191e, and an object P1. It may include a receiving groove (191d) for accommodating the.

The guide plate 191b may be accommodated in the receiving groove 191d by sliding the falling object P1 due to the curvature formed therein. Accordingly, even if the object P1 falls, the lower camera 191a is prevented from being damaged, and the fallen object P1 can be accommodated in the receiving groove 191d.

5A and 5B are views illustrating a process in which a second pickup unit and a third pickup unit alternately pick up an object and stack it on a stage, and FIG. 6 is a view illustrating a process in which the second pickup unit picks up the object.

Referring to FIG. 5A , while the first object P11 picked up by the third pickup unit 150 is stacked on the stage 181 , the second pickup unit 140 is disposed on the transfer unit 130 for the second object ( P12) can be picked up. Thereafter, as shown in FIG. 5B , while the second object P12 picked up by the second pickup unit 140 is stacked on the stage 181 , the third pickup unit 150 transfers the third object ( P12 ) to the transfer unit 130 . P13) can be picked up. By alternately picking up the object P1 in this way, the second pickup unit 140 and the third pickup unit 150 can sequentially stack the object P1 on the stage 181 , so that the working speed can be improved. .

Referring to FIG. 6 , the second pickup unit 140 includes a first moving member 142a that moves in the lateral direction along the guide rail 143 , and a second moving member that is movable up and down of the first moving member 142a. It may include an adsorption member 141 connected to the 142b, and the second moving member 142b. The third pickup unit 150 may also have the same structure as the second pickup unit 140 .

The second pickup unit 140 and the third pickup unit 150 may be driven without interfering with each other's movement. Illustratively, the second moving member 142b of the second pickup unit 140 may move in the first direction (Y-axis direction) in a state in which it is raised upward, and the second moving member of the third pick-up unit 140 descends downward. It can move in a first direction. Accordingly, the second pickup unit 140 and the third pickup unit 150 may not interfere with each other.

7 is a view illustrating a process in which a first camera and a second camera capture images of a first object and a second object, and FIG. 8 is a state in which the first image of the first object and the second image of the second object are misaligned , FIG. 9 is a view showing a process of changing the position of the first object by moving the stage, and FIG. 10 is a view showing a state in which the first image of the first object and the second image of the second object are aligned FIG. 11 is a diagram illustrating a state in which a second object is stacked on a first object.

7 and 8 , the first camera 162 may detect a first image of the first object P11 disposed on the uppermost layer among the plurality of objects P1 disposed on the stage 181, The second camera 161 is picked up by the second pickup unit 140 or the third pickup unit 150 to detect a second image of the second object P12 to be disposed on the first object P11. can Hereinafter, it will be described that the second pickup unit 140 picks up the second object P12 by way of example.

The controller 170 may check whether the first image S1 of the first object P11 and the second image S2 of the second object P12 are aligned.

Since the position to which the second object P12 is moved by the second pickup unit 140 is programmed in advance, the second image S2 is set to the position to which the second object P12 is moved by the second pickup unit 140 . After arranging, it may be determined whether the alignment is with the first image S1. Various image processing techniques may be applied to these image processing and determination algorithms.

The first image S1 of the first object P11 and the second image S2 of the second object P12 may have alignment error values d1 and d2 without being aligned. In this case, when the second object P12 is stacked on the first object P11 as it is, a problem occurs that the first object P11 and the second object P12 are not aligned. Therefore, there is no need to move the stage 181 . have.

9 and 10 , the controller 170 moves the stage 181 based on the calculated alignment error values d1 and d2 to obtain the first image S1 and the second image S1 of the first object P11. The second image S2 of the object P12 may be aligned. Specifically, the control unit 170 includes at least one of the first driving unit 182 movable in the X-axis, the second driving part 183 movable in the R-axis (rotation based on the Z-axis), and the third driving part 184 movable in the Z-axis. By controlling any one to move the stage 181 , the first image S1 of the first object P11 and the second image S2 of the second object P12 may be aligned.

For example, when the first object P11 is skewed to the left compared to the position where the second object P12 is to be stacked, the stage 181 may be moved to the right. Thereafter, the controller 170 may compare the first image S1 of the first object P11 whose position has been changed and the second image S2 of the second object P12 again to determine whether to align. The alignment operation may be repeated until the first image S1 of the first object P11 and the second image S2 of the second object P12 are aligned.

When it is determined that the first image S1 and the second image S2 are aligned as shown in FIG. 10 , the controller 170 may stack the second object P12 on the first object P11 .

According to the embodiment, the controller 170 moves the stage 181 in advance before the second pick-up unit 140 picks up the second object P12 and places it on the stage 181 so that the first object P11 . may be aligned with the position of the second object P12 .

During the time for adjusting the stage 181 when the position of the first object P11 and the position of the second object P12 are aligned with the position of the first object P11 after the second pickup unit 140 moves to the upper portion of the stage 181 . Delays may occur. However, according to the embodiment, since the stage 181 has been moved in advance to correct the alignment error between the first object P11 and the second object P12 , the second object P12 is placed on the upper part of the stage 181 . When placed, the alignment may already be completed. Accordingly, as shown in FIG. 11 , it is possible to directly stack without delay.

Also, the controller 170 may correct the stacking position of the second pickup unit 140 or the third pickup unit instead of adjusting the stage 181 . Exemplarily as shown in FIG. 8 , when it is expected that a stacking error of the first object P11 and the second object P12 will occur at the stacking position previously programmed in the second pickup unit 140 , based on the error value The stacking positions of the second pickup units 140 may be changed to align them as shown in FIG. 10 .

In addition, when the controller 170 determines that it is difficult to align the first object P11 and the second object P12 even when the stage 181 or the second and third pickup units 140 and 150 are moved as much as possible, the second The object P12 may be disposed of in the second collection module 192 without being stacked.

12 is a flowchart illustrating a stacking method according to an embodiment of the present invention.

12 , in the stacking method according to the embodiment, the first pickup unit 110 transfers a plurality of objects P1 stacked on the loading unit 120 to the transfer unit 130 ( S110 ), and the transfer unit The second pickup unit 140 and the third pickup unit 150 alternately pick up the object P1 on the image 130 and stack it on the stage 181 ( S120 ).

2 and 3 , in the step of transferring the plurality of objects P1 to the transfer unit 130 ( S120 ), the first pickup unit 110 includes the first adsorption unit 113 and the second adsorption unit 114 . ) to transmit the two objects P1 to the transfer unit 130 at once. Accordingly, the working time can be accelerated.

In this case, the first pickup unit 110 may apply vibration to the first adsorption unit 113 and the second adsorption unit 114 using the vibrating unit 112 . Accordingly, fine dust adhering to the adsorbed object P1 may be removed.

In the step of stacking on the stage 181 ( S120 ), as shown in FIG. 5A , the second pickup unit 140 is formed while the first object P11 picked up by the third pickup unit 150 is stacked on the stage 181 . The second object P12 in the transfer unit 130 may be picked up. Thereafter, as shown in FIG. 5B , while the second object P12 picked up by the second pickup unit 140 is stacked on the stage 181 , the third pickup unit 150 transfers the third object P1 of the transfer unit 130 . ) can be picked up. As described above, according to the embodiment, since the second pickup unit 140 and the third pickup unit 150 sequentially stack the object P1 on the stage 181 , the working speed may be improved.

7 to 11 , the first camera 162 detects a first image S1 of a first object P11 disposed on the uppermost layer among a plurality of objects P1 disposed on the stage 181 and , the second camera 161 is picked up by the second pickup unit 140 to perform the step of detecting the second image S2 of the second object P12 to be disposed on the first object P11. can

Thereafter, the controller 170 calculates an alignment error value between the first image S1 and the second image S2 and moves the stage 181 in advance so that the first image S1 and the second image S2 are aligned. can do it

When it is determined that the first image S1 and the second image S2 photographed again after moving the stage are aligned, the second object P12 may be stacked on top of the first object P11 .

In the above, the embodiment has been mainly described, but this is only an example and does not limit the present invention, and those of ordinary skill in the art to which the present invention pertains are not exemplified above in the range that does not depart from the essential characteristics of the present embodiment. It will be appreciated that various modifications and applications are possible. For example, each component specifically shown in the embodiment can be implemented by modification. And the differences related to these modifications and applications should be construed as being included in the scope of the present invention defined in the appended claims.

Claims (15)

a loading unit in which a plurality of objects are accommodated;
a transfer unit spaced apart from the loading unit;
a first pickup unit that picks up a plurality of objects accommodated in the loading unit and arranges them in the transfer unit;
a second pickup unit and a third pickup unit configured to alternately pick up a plurality of objects disposed on the transfer unit; and
and a stage in which the second pickup unit and the third pickup unit alternately stack the object;
and a first collection module disposed between the loading unit and the transfer unit to collect falling objects while moving from the loading unit to the transfer unit. According to claim 1,
The loading unit,
a first loading unit in which a plurality of objects are accommodated;
a second loading unit accommodating a plurality of objects;
a lifting unit for elevating the plurality of objects accommodated in the first loading unit or the second loading unit;
a rotating part for rotating the first loading part and the second loading part; and
A lamination apparatus including a suction part for sucking the dust in the first loading part and the second loading part. 3. The method of claim 2,
The first loading unit may include: a first fixing frame in which a plurality of objects are accommodated; a second fixing frame in which a plurality of objects are accommodated; and a first case surrounding the first fixing frame and the second fixing frame,
The second loading unit may include: a third fixing frame for accommodating a plurality of objects; a fourth fixing frame for accommodating a plurality of objects; and a second case surrounding the third fixing frame and the fourth fixing frame,
The suction unit is a stacking device for sucking the dust scattered inside the first case and the second case. 4. The method of claim 3,
The first pickup unit,
a first adsorption unit for adsorbing the object accommodated in the first fixing frame;
a second adsorption unit for adsorbing the object accommodated in the second fixing frame;
a vibrating unit for applying vibrations to the first and second adsorption units; and
and a moving member for moving the first adsorption unit and the second adsorption unit to the transfer unit. delete According to claim 1,
The first collection module includes a space in which a camera is accommodated, a guide plate including a transparent window disposed on an upper portion of the space, and a receiving groove for accommodating the object,
The transparent window is a lamination device having a curvature to slide the object into the receiving groove. According to claim 1,
The transfer unit includes a suction channel for adsorbing a plurality of moving objects. According to claim 1,
and a sensor disposed on the transfer unit to detect an object in which two sheets are stacked among the plurality of objects. a loading unit in which a plurality of objects are accommodated;
a transfer unit spaced apart from the loading unit;
a first pickup unit that picks up a plurality of objects accommodated in the loading unit and arranges them in the transfer unit;
a second pickup unit and a third pickup unit configured to alternately pick up a plurality of objects disposed on the transfer unit;
a stage in which the second pickup unit and the third pickup unit alternately stack the object;
a first camera configured to detect a first image of a first object disposed on an uppermost layer among a plurality of objects disposed on the stage;
a second camera picked up by the second pickup unit or the third pickup unit to detect a second image of a second object to be disposed on top of the first object; and
and a controller for calculating an alignment error value between the first image and the second image, and moving the stage based on the calculated alignment error value. 10. The method of claim 9,
The controller is configured to move the stage so that the first image and the second image are aligned before the second pickup unit or the third pickup unit picks up the second object and arranges it on the stage. a loading unit in which a plurality of objects are accommodated;
a transfer unit spaced apart from the loading unit;
a first pickup unit that picks up a plurality of objects accommodated in the loading unit and arranges them in the transfer unit;
a second pickup unit and a third pickup unit configured to alternately pick up a plurality of objects disposed on the transfer unit;
a stage in which the second pickup unit and the third pickup unit alternately stack the object;
a first camera configured to detect a first image of a first object disposed on an uppermost layer among a plurality of objects disposed on the stage;
a second camera picked up by the second pickup unit or the third pickup unit to detect a second image of a second object to be disposed on top of the first object; and
and a control unit calculating an alignment error value between the first image and the second image, and correcting a stacking position of the second pickup unit or the third pickup unit based on the calculated alignment error value. According to claim 1,
and a second collection module for collecting the falling objects while moving from the transfer unit to the stage. transferring, by the first pickup unit, the plurality of objects stacked on the loading unit to the conveying unit; and
a step of alternately picking up the object on the transfer unit by a second pickup unit and a third pickup unit and stacking them on a stage,
The step of stacking on the stage,
A first image of a first object disposed on the uppermost layer among a plurality of objects disposed on the stage and a second image of a second object picked up by a second pickup unit or a third pickup unit and disposed on top of the first object detecting; and
and calculating an alignment error value between the first image and the second image, and moving the stage based on the calculated alignment error value. delete 14. The method of claim 13,
The step of moving the stage is
A stacking method in which the second pickup unit or the third pickup unit picks up the second object and moves the stage in advance before being placed on the stage.

Images