WO2024004277A1

WO2024004277A1 - Lamination device and lamination system

Info

Publication number: WO2024004277A1
Application number: PCT/JP2023/008258
Authority: WO
Inventors: 村田航大; 鈴木新; 福田康平
Original assignee: 株式会社村田製作所
Priority date: 2022-07-01
Filing date: 2023-03-06
Publication date: 2024-01-04

Abstract

This lamination device 100 comprises: a retention part 10 that retains a lamination object 1, has a transparent portion 12 capable of transmitting imaging light therethrough in a direction perpendicular to a retention surface 10a that comes into contact with the lamination object 1, the transparent portion 12 being provided with an alignment mark 13; a lamination stage 20 that is for laminating the lamination object 1 retained by the retention part 10; an imaging unit 30 that is disposed at a position on the side opposite to the retention surface 10a across the retention part 10 and is capable of capturing, via the transparent portion 12 of the retention part 10, an image of the alignment mark 13 and at least a portion of the lamination object 1 retained by the retention part 10; and a device control unit 40 that is capable of detecting the positional displacement of the lamination object 1 retained by the retention part 10 on the basis of the image captured by the imaging unit 30 and, on the basis of the detected positional displacement, correcting the relative positional displacement between the lamination object 1 retained by the retention part 10 and the lamination stage 20.

Description

Lamination equipment and systems

The present invention relates to a laminating apparatus and a laminating system for laminating objects to be laminated.

A stacking apparatus is known that picks up objects to be stacked that are sequentially conveyed and stacks them sequentially on a stacking stage. Furthermore, a technique for correcting a relative positional shift between the stacking objects and the stacking stage before stacking the stacking objects on the stacking stage is also known.

Patent Document 1 discloses a stacking device in which an arm member attracts and holds objects to be stacked that are transported by a transport device such as a belt conveyor, and stacks the objects on a stacking stage. In this stacking device, a camera images the stacked objects being transported by the transport device, corrects the positional shift of the stacked objects based on the captured image, and then transfers the stacked objects whose positional shift has been corrected to the arm. The members are configured to be held by suction and stacked on the stacking stage.

Japanese Patent Application Publication No. 2016-33868

However, in the stacking apparatus described in Patent Document 1, if a positional shift of the stacking target occurs when the arm member attracts and holds the stacking target, the stacking target is stacked on the stacking stage with the positional shift occurring. There is a possibility that

The present invention is intended to solve the above-mentioned problems, and even if the positional shift occurs when the stacked objects are held by the holding section, the positional shift of the stacked objects stacked on the stacking stage can be suppressed. It is an object of the present invention to provide a laminating device capable of performing the following steps, and a laminating system equipped with such a laminating device.

The laminating apparatus of the present invention includes:
A holding part that holds a stacked object, the holding part having a transparent part that can transmit imaging light in a direction perpendicular to a holding surface in contact with the stacked object, and an alignment mark provided on the transparent part. and,
a stacking stage for stacking the stacking objects held by the holding unit;
At least a portion of the object to be laminated, which is arranged at a position opposite to the holding surface with respect to the holding part, and which is held by the holding part through the transparent part of the holding part, and the alignment an imaging unit capable of imaging the mark;
Based on the image captured by the imaging unit, a positional shift of the stacked object held by the holding unit is detected, and based on the detected positional shift, the stacked target held by the holding unit is detected. an apparatus control unit capable of correcting a relative positional shift between an object and the stacking stage;
It is characterized by having the following.

The lamination system of the present invention includes:
the laminating device;
a plurality of supply mechanisms capable of supplying the laminated objects to each of a plurality of supply positions;
a moving mechanism including a stator of a linear motor having a predetermined running track, and a movable element of the linear motor that is movable between the plurality of supply positions along the running track;
Equipped with
The holding part and the lamination stage of the lamination apparatus are included in the movable element.

According to the laminating apparatus of the present invention, the imaging unit images at least a part of the laminated object held by the holding unit and the alignment mark through the transparent part of the holding unit, and the device control unit: Based on the image captured by the imaging unit, the positional deviation of the stacking target held by the holding unit is detected, and based on the detected positional deviation, the stacking target held by the holding unit and the stacking stage are separated. Since the relative positional deviation between the stacked objects is corrected, even if a positional deviation occurs when the stacked objects are held by the holding section, the positional deviation of the stacked objects stacked on the stacking stage can be suppressed. Can be done.

According to the lamination system of the present invention, the lamination apparatus described above, a plurality of supply mechanisms capable of supplying objects to be laminated, and a movement mechanism are provided, and the holding part and the lamination stage of the lamination apparatus are movable by the movement mechanism. Included in child. Therefore, even if a positional shift occurs when the stacked objects are held by the holding section included in the movable element, the positional shift of the stacked objects stacked on the stacking stage can be suppressed.

FIG. 1 is a perspective view schematically showing the configuration of a lamination device in one embodiment. FIG. 3 is a plan view schematically showing the configuration of the holding section when viewed from the holding surface side. FIG. 3 is an enlarged view of the area near the transparent portion when the holding portion is viewed from the side opposite to the holding surface. FIG. 3 is an enlarged view of the area near the transparent portion when the holding portion holding the stacked object provided with the position confirmation mark is viewed from the opposite side to the holding surface. FIG. 3 is a plan view for explaining the moving direction of the stacking stage. FIG. 1 is a plan view schematically showing the configuration of a lamination system including a lamination apparatus in one embodiment. FIG. 3 is a diagram schematically showing the configuration of a movable element of a moving mechanism when viewed in a direction along a travel trajectory of a stator.

Embodiments of the present invention will be shown below to specifically explain the features of the present invention.

FIG. 1 is a perspective view schematically showing the configuration of a laminating apparatus 100 in one embodiment. The stacking apparatus 100 in one embodiment includes a holding section 10, a stacking stage 20, an imaging section 30, and a device control section 40. Note that FIG. 1 shows the external shape of the holding portion 10 whose detailed shape is shown in FIG. 2 in a simplified form.

The holding unit 10 is configured to hold the stacking objects 1 and to stack the held stacking objects 1 on the stacking stage 20. The stacking objects 1 stacked on the stacking stage 20 have, for example, a sheet-like shape. However, the object to be laminated 1 is not limited to a sheet-like object. The stacking objects 1 are stacked one after another on the stacking stage 20.

As an example, as shown in FIG. 2, a plurality of suction holes 11 are provided on the holding surface 10a of the holding part 10 that is in contact with the object to be laminated 1, and the object to be laminated is The object 1 is held by suction on the holding surface 10a. By providing the plurality of suction holes 11 in the holding surface 10a of the holding part 10, the objects 1 to be stacked can be stably held by suction. In the example shown in FIG. 2, the shape of the suction hole 11 when viewed in the direction perpendicular to the holding surface 10a is circular, but the shape of the suction hole 11 is not limited to a circle. In addition, in FIG. 2, the stacked objects 1 held by suction on the holding surface 10a are shown by dotted lines.

In the example shown in FIG. 2, the shape of the holding portion 10 when viewed in the direction perpendicular to the holding surface 10a is not rectangular. Specifically, the shape of the holding portion 10 when viewed in a direction perpendicular to the holding surface 10a is a shape having four inwardly recessed portions 10b with respect to a rectangular shape. Therefore, as shown in FIG. 2, when the stacking object 1 is suction-held on the holding surface 10a, a part of the stacking object 1 is located outside the holding surface 10a. However, the shape of the holding part 10 is not limited to the shape shown in FIG. 2. Furthermore, the method by which the holding unit 10 holds the stacked objects 1 is not limited to suction holding.

The holding part 10 has a transparent part 12 that can transmit imaging light in a direction perpendicular to the holding surface 10a. The transparent portion 12 is made of a material having a transmittance that transmits imaging light, such as a transparent glass material such as quartz glass or float glass, or a transparent resin material such as acrylic.

The transparent portion 12 is provided at a position where it overlaps at least a portion of the stacked object 1 in the direction perpendicular to the holding surface 10a when the holding section 10 holds the stacked object 1. In this embodiment, the transparent part 12 is provided at a corner position of the holding part 10, as shown in FIGS. 1 and 2. The transparent parts 12 are preferably provided at two corner positions of the holding part 10 for reasons described later. In the example shown in FIGS. 1 and 2, the transparent portion 12 has a rectangular shape when viewed in a direction perpendicular to the holding surface 10a, but may have a shape other than a rectangle.

Alignment marks 13 are provided on the transparent portion 12 of the holding portion 10. The alignment mark 13 is a mark that serves as a reference when detecting a positional shift of the stacked object 1 held by the holding unit 10. When the transparent parts 12 are provided at two corners of the holding part 10, alignment marks 13 are provided on each of the two transparent parts 12. In this embodiment, the alignment mark 13 is provided on the holding surface 10a of the transparent portion 12 having a thickness in a direction perpendicular to the holding surface 10a.

In order to detect the positional deviation of the laminated object 1, the position of the transparent part 12 in the holding part 10 is made into a recessed part with nothing provided therein, and the position of the alignment mark 13 is determined from the edge of the recessed part. A configuration in which the protruding tip is used instead of the alignment mark 13 is also considered, but by providing the transparent part 12, the area for holding the stacking object 1 increases, so that the stacking object 1 is It becomes possible to hold it stably.

FIG. 3 is an enlarged view of the area near the transparent portion 12 when the holding portion 10 is viewed from the side opposite to the holding surface 10a. In FIG. 3, the stacked object 1 held by the holding unit 10 is also shown as a dotted area.

The shape of the alignment mark 13 can be any shape as long as the positional shift of the stacked object 1 held by the holding part 10 can be detected. In the example shown in FIG. 3, the alignment mark 13 has a rectangular shape.

The holding unit 10 holds the stacked objects 1 at the supply position of the stacked objects 1, moves toward the stacking stage 20, and then releases the holding of the stacked objects 1, thereby stacking the stacked objects 1 on the stacking stage 20. Object 1 is stacked. In this embodiment, the direction perpendicular to the holding surface 10a of the holding part 10 is the vertical direction, and the holding part 10 is configured to be movable up and down. That is, after holding the stacking object 1 , the holding section 10 descends toward the stacking stage 20 and releases the holding of the stacking object 1 , thereby stacking the stacking object 1 on the stacking stage 20 . .

The stacking stage 20 is for stacking the stacking objects 1 held by the holding section 10.

The imaging section 30 is disposed at a position opposite to the holding surface 10a with respect to the holding section 10, and captures the stacked object 1 held by the holding section 10 through the transparent section 12 of the holding section 10. At least a portion of the alignment mark 13 can be imaged. When the holding surface 10a of the holding section 10 is in a direction parallel to the horizontal direction as in this embodiment, the imaging section 30 is located vertically above the holding section 10 holding the stacked object 1. Furthermore, the stacking stage 20 is located vertically below the holding section 10 that holds the stacking objects 1.

In this embodiment, the shape of the stacked object 1 is rectangular, and the imaging section 30 detects the corner 1a (see FIG. 3) of the stacked object 1 held by the holding section 10 and the alignment mark 13 of the holding section 10. The images are taken at the same time. As shown in FIGS. 2 and 3, since the transparent part 12 is provided at the corner position of the holding part 10, the imaging part 30 can detect the corner 1a of the stacked object 1 held by the holding part 10. It is possible to image the alignment mark 13 at the same time.

When the alignment mark 13 is provided on the holding surface 10a of the holding part 10 in the transparent part 12, the distance from the imaging part 30 to the alignment mark 13 and the stacked layer held by the holding part 10 from the imaging part 30 The distance to the object 1 is approximately the same. In this case, at least a portion of the stacked object 1 and the alignment mark 13 can be imaged at the same time in a state where the focus is more closely matched. Therefore, the alignment mark 13 is preferably provided on the holding surface 10a of the holding section 10 in the transparent section 12.

FIG. 1 shows a configuration example in which transparent parts 12 are provided at two corners of the holding part 10, and two imaging parts 30 are provided corresponding to the two transparent parts 12. In this case, the two imaging units 30 each image one corner of the stacked object 1 and one alignment mark 13 of the holding unit 10. By providing two imaging units 30 corresponding to the two transparent parts 12 in this way, the relative position of the stacked object 1 with respect to the holding part 10 can be imaged more accurately. However, only one imaging section 30 may be provided, and the two corners of the stacked object 1 and the two alignment marks 13 may be simultaneously imaged by the one imaging section 30.

The device control unit 40 detects the positional deviation of the stacked object 1 held by the holding unit 10 based on the image captured by the imaging unit 30, and the device control unit 40 detects the positional deviation of the stacked object 1 held by the holding unit 10 based on the detected positional deviation. It is possible to correct the relative positional deviation between the stacking object 1 and the stacking stage 20 that have been stacked. Further, the device control unit 40 can move up and down at least one of the holding unit 10 and the stacking stage 20. The imaging unit 30 and the device control unit 40 may be connected by wiring such as a signal line, or may be connected wirelessly.

In order to correct the relative positional deviation between the stacking target 1 held by the holding unit 10 and the stacking stage 20, the device control unit 40 may move the holding unit 10 or move the stacking stage 20. may be moved, or both the holding section 10 and the stacking stage 20 may be moved.

Note that the imaging unit 30 may include an image processing unit, and the image processing unit may detect a positional shift of the stacked object 1 held by the holding unit 10 based on the captured image. In that case, the positional deviation of the stacked objects 1 detected by the image processing section is sent to the device control section 40. In this configuration, the image processing section of the imaging section 30 is included in the device control section 40.

An example of a method for detecting a positional shift of the stacked object 1 held by the holding unit 10 based on an image captured by the imaging unit 30 will be described. In the example shown in FIG. 3, the first side 13a of the alignment mark 13, which is rectangular in plan view when viewed in a direction perpendicular to the holding surface 10a, is the first side 13a of the transparent portion 12, which is rectangular in plan view. The alignment mark 13 is arranged so that the second side 13b of the alignment mark 13 is parallel to the second side 12b of the transparent part 12.

The device control unit 40 detects the center 13c of the alignment mark 13 and the corner 1a of the stacked object 1 held by the holding unit 10 based on the image captured by the imaging unit 30, and The relative position of the corner 1a of the stacked object 1 with respect to the center 13c is detected. As an example, the device control unit 40 measures the distance X1 in the X-axis direction and the distance Y1 in the Y-axis direction of the corner 1a of the stacked object 1 with respect to the center 13c of the alignment mark 13. In FIG. 3, the X-axis direction is a direction parallel to the first side 13a of the alignment mark 13, and the Y-axis direction is a direction parallel to the second side 13b of the alignment mark 13.

Subsequently, the device control unit 40 calculates the difference (Xa - The stacking object 1 held by the holding unit 10 is determined based on the difference (Ya - Y1) between the reference distance Ya in the Y-axis direction when there is no positional shift of the object 1 and the measured distance Y1 in the Y-axis direction. Detect positional deviation. When the holding unit 10 holds the stacked object 1, if the stacked object 1 shifts only in at least one of the X-axis direction and the Y-axis direction, the above-mentioned distance difference in the X-axis direction ( By determining the difference in distance in the Y-axis direction (Xa-X1) and the distance in the Y-axis direction (Ya-Y1), it is possible to detect the positional shift of the stacked object 1 held by the holding unit 10.

When the transparent parts 12 are provided at two corner positions of the holding part 10 and the alignment marks 13 are provided on each of the two transparent parts 12, the device control part 40 controls the position of the two alignment marks 13. For each, the distance X1 in the X-axis direction and the distance Y1 in the Y-axis direction described above are measured. In that case, the device control unit 40 calculates two distance differences in the X-axis direction (Xa-X1) and two distance differences in the Y-axis direction (Ya-Y1), thereby controlling the stacking target object 1. Detect positional deviation. By using the two alignment marks 13 to obtain two distance differences (Xa-X1) and (Ya-Y1), the positional deviation of the stacked objects 1 can be determined with higher accuracy. Furthermore, by obtaining two distance differences (Xa-X1) and (Ya-Y1) as described above, the inclination of the stacked object 1 can also be detected. That is, not only the positional deviation of the stacked object 1 along the X-axis direction and the positional deviation along the Y-axis direction, but also the positional deviation in the rotational direction around the center of the stacked object 1 can be detected. Therefore, it is preferable that the transparent parts 12 be provided at two corner positions of the holding part 10.

In order to confirm the position of the stacked object 1, check the position of the surface of the stacked object 1 on the side that is in contact with the holding surface 10a of the holding section 10 and overlaps with the transparent section 12 in the direction orthogonal to the holding surface 10a. A position confirmation mark 14 may be provided at the position (see FIG. 4). In that case, the imaging unit 30 simultaneously images the position confirmation mark 14 of the stacked object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10. The device control unit 40 detects a positional shift of the stacked object 1 by detecting the relative position of the position confirmation mark 14 of the stacked object 1 with respect to the center 13c of the alignment mark 13. Note that the position confirmation mark 14 can have any shape.

As described above, the device control unit 40 corrects the relative positional deviation between the stacking object 1 held by the holding unit 10 and the stacking stage 20 based on the detected positional deviation. That is, the holding unit holds the stacked objects 1 so that the above-mentioned distance difference in the X-axis direction (Xa-X1) and distance difference in the Y-axis direction (Ya-Y1) are each zero. At least one of the stacking stage 10 and the stacking stage 20 is moved. However, if the difference in distance in the X-axis direction (Xa-X1) and the difference in distance in the Y-axis direction (Ya-Y1) described above are each 0, the holder holding the stacked object 1 There is no need to move the section 10 and the stacking stage 20, respectively.

For example, as shown in FIG. 5, the stacking stage 20 is configured to be movable in the X-axis direction, the Y-axis direction, and the θ direction, which is the direction of rotation of the stacking stage 20 around the center. The lamination stage 20 is, for example, a UVW stage movable in the X-axis direction, the Y-axis direction, and the θ direction. The device control unit 40 moves the stacking stage 20 in at least one of the X-axis direction, the Y-axis direction, and the θ direction based on the detected positional deviation, thereby removing the stacked layers held by the holding unit 10. A relative positional shift between the object 1 and the stacking stage 20 is corrected.

Furthermore, the device control unit 40 may move the holding unit 10 instead of the stacking stage 20. In that case, the device control unit 40 moves the holding unit 10 holding the stacked object 1 in the X-axis direction, the Y-axis direction, and the rotation direction θ around the center of the holding unit 10 based on the detected positional deviation. By moving in at least one of the directions, the relative positional shift between the stacking stage 20 and the stacking object 1 held by the holding unit 10 is corrected.

Note that the device control unit 40 may move the holding unit 10 holding the stacking object 1 and the stacking stage 20, respectively, based on the detected positional deviation.

After correcting the positional deviation described above, the device control unit 40 lowers the holding unit 10 to release the holding unit 10 from adhering to the stacked objects 1 . Thereby, the stacking objects 1 are stacked on the stacking stage 20.

(Laminated system)
Next, the configuration of a lamination system 200 including the lamination apparatus 100 in the above-described embodiment will be described.

FIG. 6 is a plan view schematically showing the configuration of a lamination system 200 including the lamination apparatus 100 in one embodiment. The lamination system 200 includes a lamination device 100, a plurality of supply mechanisms 210, and a movement mechanism 220. The holding section 10 and the lamination stage 20 of the lamination apparatus 100 are included in a moving mechanism 220, as will be described later. Here, an example in which the stacked object 1 is a sheet-shaped battery material will be described. However, the object to be laminated 1 is not limited to a sheet-like battery material.

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

The first supply mechanism 210a supplies the stacked objects 1 to the first supply position A1. The object to be laminated 1 supplied by the first supply mechanism 210a is, for example, a resin film. The resin film is a sheet-shaped battery material that functions as a separator, and is made of polyethylene, for example. In this embodiment, the first supply mechanism 210a is a belt conveyor, and conveys and supplies the stacked objects 1 placed on the belt to the first supply position A1.

The second supply mechanism 210b supplies the stacked objects 1 to the second supply position A2. The object to be laminated 1 supplied by the second supply mechanism 210b is, for example, a first metal foil. The first metal foil is a sheet-shaped battery material that functions as one of the positive electrode and the negative electrode, and is made of, for example, aluminum. In this embodiment, the second supply mechanism 210b is a belt conveyor, and conveys and supplies the stacked objects 1 placed on the belt to the second supply position A2.

The third supply mechanism 210c supplies the stacked object 1 to the third supply position A3. The object to be laminated 1 supplied by the third supply mechanism 210c is, for example, a resin film. The resin film is a sheet-shaped battery material that functions as a separator, and is made of polyethylene, for example. The resin film supplied by the third supply mechanism 210c can be the same as the resin film supplied by the first supply mechanism 210a. However, a resin film different from that supplied by the first supply mechanism 210a may be used. In this embodiment, the third supply mechanism 210c is a belt conveyor, and conveys and supplies the stacked objects 1 placed on the belt to the third supply position A3.

The fourth supply mechanism 210d supplies the stacked object 1 to the fourth supply position A4. The laminated object 1 supplied by the fourth supply mechanism 210d is, for example, a second metal foil. The second metal foil is a sheet-shaped battery material that functions as the other electrode of the positive electrode and the negative electrode, and is made of, for example, aluminum. In this embodiment, the fourth supply mechanism 210d is a belt conveyor, and conveys and supplies the stacked objects 1 placed on the belt to the fourth supply position A4.

Note that the first supply mechanism 210a, the second supply mechanism 210b, the third supply mechanism 210c, and the fourth supply mechanism 210d are not limited to belt conveyors, and may be used to transport the stacked objects 1. Any structure that can be used will suffice.

Furthermore, the supply mechanism 210 may be configured to transport elongated stacked objects 1 instead of transporting the separated stacked objects 1. In that case, the long laminated object 1 may be cut into pieces at the supply positions A1 to A4. In addition, in this embodiment, although the shape of the lamination|stacking object 1 is rectangular shape, it may be a shape other than a rectangle.

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

In this embodiment, the mover 222 includes a first mover 222a, a second mover 222b, a third mover 222c, a fourth mover 222d, a fifth mover 222e, and a sixth mover. A child 222f, a seventh mover 222g, and an eighth mover 222h are included. Each of the movers 222a to 222h can move independently. Since the moving mechanism 220 includes a plurality of movers 222, the stacking objects 1 can be stacked efficiently in a short time.

FIG. 7 is a diagram schematically showing the configuration of the movable element 222 of the moving mechanism 220 when viewed in the direction along the travel trajectory of the stator 221. As shown in FIG. 7, the holding section 10 and the lamination stage 20 of the lamination apparatus 100 are included in a movable member 222. Further, in the configuration of the device control unit 40, for example, a drive mechanism for driving at least one of the holding unit 10 and the stacking stage 20 is included in the mover 222, and the correction amount for driving the drive mechanism is The part that issues instructions for calculating and driving may be placed at a fixed location. In addition, in FIG. 7, the X-axis direction is the direction in which the supply mechanism 210 conveys the stacked objects 1, and the Y-axis direction is the direction in which the movable element 222 moves along the traveling track. Further, the Z-axis direction is a vertical direction.

The holding unit 10 holds the stacking object 1 conveyed by the supply mechanism 210. The holding unit 10 is movable in the Z-axis direction, approaches the stacked object 1 from above by descending, and holds the stacked object 1.

The device control unit 40 lowers the holding unit 10 holding the stacking object 1 toward the stacking stage 20. At this time, it is preferable to adjust the amount of descent of the holding section 10 according to the number of stacked objects 1 stacked on the stacking stage 20. However, the device control unit 40 lowers the holding unit 10 by a predetermined amount, and the system control unit (described later) lowers the stacking stage 20 according to the number of stacked objects 1 stacked on the stacking stage 20. It may be moved in the Z-axis direction. In that case, the amount by which the holding section 10 is lowered by the device control section 40 can be kept constant.

In this embodiment, as will be described later, while the mover 222 is moving along the travel trajectory of the stator 221, the holding unit 10 descends to release the stacking object 1 from adsorption, and the stacking stage The object to be laminated 1 is laminated on the layer 20. However, if the stacking target 1 is stacked on the stacking stage 20, "stacking the stacking target 1 on the stacking stage 20" means that the stacking target 1 is stacked on the stacking stage 20. This means that the object 1 to be laminated is laminated.

In this embodiment, as shown in FIG. 7, the movable element 222 is attached to two guide rails 223 of the stator 221 that form a running track, and moves along the guide rails 223. As shown in FIG. 7, the guide rail 223 of the stator 221 is provided not vertically below the movable element 222 but on the side thereof. In a structure where the guide rail 223 is provided vertically below the movable element 222, control must be performed taking into account the difference in the inner races of the two guide rails 223, but in a structure in which the guide rail 223 is provided on the side, the difference in the inner races must be taken into account. It is not necessary and the control is simple.

As described above, in this embodiment, there are four supply positions A1 to A4 for the stacking objects 1 in order to supply the four types of stacking objects 1. The imaging units 30 of the laminating apparatus 100 are provided at four locations corresponding to the four supply positions A1 to A4. Specifically, a first imaging section 30a is provided corresponding to the first supply position A1, a second imaging section 30b is provided corresponding to the second supply position A2, and a second imaging section 30b is provided corresponding to the second supply position A2. A third imaging section 30c is provided corresponding to A3, and a fourth imaging section 30d is provided corresponding to the fourth supply position A4. Although FIG. 6 shows an example in which one imaging unit 30 is provided corresponding to one supply position, as described above, two imaging units 30 may be provided corresponding to one supply position. It is preferable.

The imaging unit 30 may be provided in a fixed state at positions corresponding to the supply positions A1 to A4, or may be included in the movable element 222 and configured to move with the movement of the movable element 222. Good too.

Hereinafter, a method for sequentially stacking four types of stacking objects 1 using a stacking system 200 including a stacking apparatus 100 in one embodiment will be described. Here, the operation of the first movable element 222a of the eight movable elements 222 to laminate the laminated objects 1 will be described, but the same applies to the operations of the other movable elements 222b to 222h to laminate the laminated objects 1. It is. That is, if the time for the first mover 222a to make one revolution around the running track of the stator 221 is T, the timing of the eighth mover 222h is delayed by T/8, and the timing of the seventh mover 222g is (2T)/ The sixth mover 222f has a (3T)/8 delay timing, the fifth mover 222e has a (4T)/8 delay timing, and the fourth mover 222d has a (5T)/8 delay timing. The third movable element 222c performs the same operation as the first movable element 222a at a timing delayed by (6T)/8, and the second movable element 222b operates at a timing delayed by (7T)/8.

Here, the explanation will be given assuming that the stacking system 200 includes a system control unit that controls the operations of the plurality of supply mechanisms 210 and the plurality of movement mechanisms 220.

(S1) The system control unit controls the first supply mechanism 210a so that the resin film, which is the object to be laminated 1, is supplied to the first supply position A1, and also controls the first movable member 222a to the first supply position A1. It is stopped at the first supply position A1. The device control unit 40 lowers the holding unit 10 to hold the stacked object 1 at the first supply position A1. The system control unit controls the first imaging unit 30a to image at least a portion of the stacked object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

Note that when the first movable element 222a is stopped at the first supply position A1, the third movable element 222c is stopped at the second supply position A2, and the fifth movable element 222c is stopped at the third supply position A3. The movable element 222e is stopped, and the seventh movable element 222g is stopped at the fourth supply position A4. The third movable element 222c, the fifth movable element 222e, and the seventh movable element 222g each have a laminated layer supplied at each supply position A1 to A4, similarly to the first movable element 222a, as described later. The objects 1 are held by the holding section 10 and stacked on the stacking stage 20 while moving to the next supply positions A1 to A4 and stopping.

Further, when the first movable element 222a is stopped at the first supply position A1, the second movable element 222b is located between the first supply position A1 and the second supply position A2, The fourth mover 222d is located between the second supply position A2 and the third supply position A3, and the sixth mover 222f is located between the third supply position A3 and the fourth supply position A4. The eighth movable element 222h is located between the fourth supply position A4 and the first supply position A1. The second movable element 222b, the fourth movable element 222d, the sixth movable element 222f, and the eighth movable element 222h each move to the next supply position A1 to A4 and stop, as will be described later. In the meantime, the relative position of the object to be laminated 1 with respect to the lamination stage 20 is corrected and laminated.

(S2) Subsequently, the system control unit moves the first movable element 222a from the first supply position A1 to the second supply position A2 along the traveling track. While the first mover 222a moves from the first supply position A1 to the second supply position A2 and stops, the device control unit 40 controls the stacking target object 1 held by the holding unit 10. The position relative to the stacking stage 20 is corrected. Specifically, the device control unit 40 moves at least one of the stacking stage 20 and the holding unit 10 in the By moving in at least one of the axial direction and the θ direction, the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking stage 20 is corrected.

Note that part of the processing performed by the device control unit 40 may be performed by the image processing unit and system control unit of the first imaging unit 30a. For example, the image processing unit detects the positional deviation of the stacked object 1 held by the holding unit 10 based on the captured image, and the system control unit detects the positional deviation of the stacked object 1 held by the holding unit 10. Based on this, a correction amount for correcting the positional shift is calculated. The apparatus control unit 40 moves at least one of the holding unit 10 and the stacking stage 20 based on the correction amount calculated by the system control unit. In such a configuration, the image processing unit and system control unit of the first imaging unit 30a are also included in the configuration of the device control unit 40. The same applies to the following explanation.

Thereafter, the device control unit 40 lowers the holding unit 10 and then causes the holding unit 10 to release the stacking object 1 from attracting it. Thereby, the stacking objects 1 are stacked on the stacking stage 20.

Note that the system control unit not only moves the first movable element 222a from the first supply position A1 to the second supply position A2, but also moves the third movable element 222c from the second supply position A2 to the second supply position A2. The fifth movable element 222e is moved from the third supply position A3 to the fourth supply position A4, and the seventh movable element 222g is moved from the fourth supply position A4 to the fourth supply position A4. 1 to the supply position A1.

(S3) Next, the system control unit controls the second supply mechanism 210b so that the first metal foil, which is the object to be laminated 1, is supplied to the second supply position A2, and The movable element 222a is stopped at the second supply position A2. The device control unit 40 lowers the holding unit 10 to hold the stacked object 1 at the second supply position A2. The system control unit controls the second imaging unit 30b to image at least a portion of the stacked object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

Note that when the first mover 222a is stopped at the second supply position A2, the third mover 222c is stopped at the third supply position A3, and the fifth mover 222c is stopped at the fourth supply position A4. The seventh movable element 222e is stopped, and the seventh movable element 222g is stopped at the first supply position A1. Further, the second movable element 222b is located between the second supply position A2 and the third supply position A3, and the fourth movable element 222d is located between the third supply position A3 and the fourth supply position. A4, the sixth movable element 222f is located between the fourth supply position A4 and the first supply position A1, and the eighth movable element 222h is located between the fourth supply position A4 and the first supply position A1. and the second supply position A2.

(S4) Subsequently, the system control unit moves the first movable element 222a from the second supply position A2 to the third supply position A3 along the traveling track. While the first mover 222a moves from the second supply position A2 to the third supply position A3 and stops, the device control unit 40 controls the stacking target object 1 held by the holding unit 10. The position relative to the stacking stage 20 is corrected. Specifically, the device control unit 40 moves at least one of the stacking stage 20 and the holding unit 10 in the By moving in at least one of the axial direction and the θ direction, the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking stage 20 is corrected. After the position correction, the operation of stacking the stacking objects 1 on the stacking stage 20 is the same as the operation of stacking the stacking objects 1 supplied to the first supply position A1.

Note that the system control unit not only moves the first movable element 222a from the second supply position A2 to the third supply position A3, but also moves the third movable element 222c from the third supply position A3 to the third supply position A3. The fifth movable element 222e is moved from the fourth supply position A4 to the first supply position A1, and the seventh movable element 222g is moved from the first supply position A1 to the first supply position A1. 2 to the supply position A2.

(S5) Subsequently, the system control unit controls the third supply mechanism 210c so that the resin film, which is the laminated object 1, is supplied to the third supply position A3, and also controls the first mover 222a is stopped at the third supply position A3. The device control unit 40 lowers the holding unit 10 to hold the stacked object 1 at the third supply position A3. The system control unit controls the third imaging unit 30c to image at least a portion of the stacked object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

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

(S6) Subsequently, the system control unit moves the first movable element 222a from the third supply position A3 to the fourth supply position A4 along the traveling track. While the first mover 222a moves from the third supply position A3 to the fourth supply position A4 and stops, the device control unit 40 controls the stacking target object 1 held by the holding unit 10. The position relative to the stacking stage 20 is corrected. Specifically, the device control unit 40 moves at least one of the stacking stage 20 and the holding unit 10 in the X-axis direction and the Y-axis direction based on the image of the stacking object 1 captured by the third imaging unit 30c By moving in at least one of the axial direction and the θ direction, the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking stage 20 is corrected. After the position correction, the operation of stacking the stacking objects 1 on the stacking stage 20 is the same as the operation of stacking the stacking objects 1 supplied to the first supply position A1.

Note that the system control unit not only moves the first movable element 222a from the third supply position A3 to the fourth supply position A4, but also moves the third movable element 222c from the fourth supply position A4 to the fourth supply position A4. The fifth movable element 222e is moved from the first supply position A1 to the second supply position A2, and the seventh movable element 222g is moved from the second supply position A2 to the second supply position A2. 3 to supply position A3.

(S7) Next, the system control unit controls the fourth supply mechanism 210d so that the second metal foil, which is the object to be laminated 1, is supplied to the fourth supply position A4, and also controls the fourth supply mechanism 210d to The movable element 222a is stopped at the fourth supply position A4. The device control unit 40 lowers the holding unit 10 to hold the stacked object 1 at the fourth supply position A4. The system control unit controls the fourth imaging unit 30d to image at least a portion of the stacked object 1 held by the holding unit 10 and the alignment mark 13 of the holding unit 10.

Note that when the first mover 222a is stopped at the fourth supply position A4, the third mover 222c is stopped at the first supply position A1, and the fifth mover 222c is stopped at the second supply position A2. The movable element 222e is stopped, and the seventh movable element 222g is stopped at the third supply position A3. Further, the second movable element 222b is located between the fourth supply position A4 and the first supply position A1, and the fourth movable element 222d is located between the first supply position A1 and the second supply position A1. A2, the sixth movable element 222f is located between the second supply position A2 and the third supply position A3, and the eighth movable element 222h is located between the second supply position A2 and the third supply position A3. and the fourth supply position A4.

(S8) Subsequently, the system control unit moves the first movable element 222a from the fourth supply position A4 to the first supply position A1 along the traveling track. While the first mover 222a moves from the fourth supply position A4 to the first supply position A1 and stops, the device control unit 40 controls the stacking target object 1 held by the holding unit 10. The position relative to the stacking stage 20 is corrected. Specifically, the device control unit 40 moves at least one of the stacking stage 20 and the holding unit 10 in the X-axis direction and the Y-axis direction based on the image of the stacking object 1 captured by the fourth imaging unit 30d. By moving in at least one of the axial direction and the θ direction, the relative position of the stacking object 1 held by the holding unit 10 with respect to the stacking stage 20 is corrected. After the position correction, the operation of stacking the stacking objects 1 on the stacking stage 20 is the same as the operation of stacking the stacking objects 1 supplied to the first supply position A1.

Note that the system control unit not only moves the first mover 222a from the fourth supply position A4 to the first supply position A1, but also moves the third mover 222c from the first supply position A1 to the first supply position A1. The fifth movable element 222e is moved from the second supply position A2 to the third supply position A3, and the seventh movable element 222g is moved from the third supply position A3 to the third supply position A3. 4 to supply position A4.

Through the steps (S1) to (S8) described above, a set of semi-finished products in which four types of laminated objects 1, such as a resin film, a first metal foil, a resin film, and a second metal foil are laminated in this order, is produced. can get. Thereafter, by repeating the steps (S1) to (S8), a product in which a predetermined number of sets are laminated, that is, a laminate in which a plurality of positive electrodes and negative electrodes are alternately laminated with a resin film functioning as a separator interposed therebetween. You get a body. The laminate is used, for example, as a constituent material of an assembled battery.

The present invention is not limited to the above embodiments, and various applications and modifications can be made within the scope of the present invention.

For example, the object to be laminated 1 is not limited to the above-mentioned sheet-shaped battery material. For example, the plurality of types of lamination objects 1 are sheet-like conductive layers and insulating layers, and a multilayer substrate can also be produced by laminating the plurality of types of lamination objects 1. In that case, the conductive layer is made of, for example, copper, silver, an alloy containing copper, an alloy containing silver, or Sn--Ag solder. The insulating layer is made of, for example, a liquid crystal polymer, a thermoplastic resin such as polyetheretherketone, polyetherimide, or polyimide, or a thermosetting resin such as epoxy resin or unsaturated polyester.

In the embodiment described above, the holding section 10 is configured to approach the supply mechanism 210 by descending to hold the stacked object 1, but when the supply mechanism 210 rises, the holding section 10 approaches the supply mechanism 210. It may be configured to approach 10.

The laminating apparatus and laminating system in this application are as follows.
<1>. A holding part that holds a stacked object, the holding part having a transparent part that can transmit imaging light in a direction perpendicular to a holding surface in contact with the stacked object, and an alignment mark provided on the transparent part. and,
a stacking stage for stacking the stacking objects held by the holding unit;
At least a portion of the object to be laminated, which is arranged at a position opposite to the holding surface with respect to the holding part, and which is held by the holding part through the transparent part of the holding part, and the alignment an imaging unit capable of imaging the mark;
Based on the image captured by the imaging unit, a positional shift of the stacked object held by the holding unit is detected, and based on the detected positional shift, the stacked target held by the holding unit is detected. an apparatus control unit capable of correcting a relative positional shift between an object and the stacking stage;
A laminating device comprising:
<2>. The laminating device according to <1>, wherein the alignment mark is provided on the holding surface of the transparent portion.
<3>. The laminating device according to <1> or <2>, wherein the transparent part is provided at a corner of the holding part.
<4>. The laminating device according to <1> or <2>, wherein the transparent part is provided at two corner positions of the holding part.
<5>. The laminating device according to <4>, wherein two of the imaging sections are provided corresponding to the two transparent sections.
<6>. The laminating device according to any one of <1> to <5>, wherein the holding surface of the holding part is provided with a plurality of suction holes.
<7>. The laminating device according to any one of <1> to <6>,
a plurality of supply mechanisms capable of supplying the laminated objects to each of a plurality of supply positions;
a moving mechanism comprising a stator of a linear motor having a predetermined running track, and a movable element of the linear motor movable between the plurality of supply positions along the running track;
Equipped with
A lamination system, wherein the holding part and the lamination stage of the lamination apparatus are included in the movable element.
<8>. The lamination system according to <7>, wherein the moving mechanism includes a plurality of the movers.

1 Object to be laminated 1a Corner of the object to be laminated 10 Holding part 10a Holding surface 11 Suction hole 12 Transparent part 13 Alignment mark 14 Mark for position confirmation 20 Lamination stage 30 Imaging part 40 Device control part 100 Lamination apparatus 200 Lamination system 210 Supply mechanism 220 Moving mechanism 221 Stator 222 Mover 223 Guide rail

Claims

A holding part that holds a stacked object, the holding part having a transparent part that can transmit imaging light in a direction perpendicular to a holding surface in contact with the stacked object, and an alignment mark provided on the transparent part. and,
a stacking stage for stacking the stacking objects held by the holding unit;
At least a portion of the object to be laminated, which is arranged at a position opposite to the holding surface with respect to the holding part, and which is held by the holding part through the transparent part of the holding part, and the alignment an imaging unit capable of imaging the mark;
Based on the image captured by the imaging unit, a positional shift of the stacked object held by the holding unit is detected, and based on the detected positional shift, the stacked target held by the holding unit is detected. an apparatus control unit capable of correcting a relative positional shift between an object and the stacking stage;
A laminating device comprising:
The laminating apparatus according to claim 1, wherein the alignment mark is provided on the holding surface of the transparent part.
The laminating device according to claim 1 or 2, wherein the transparent part is provided at a corner of the holding part.
The laminating device according to claim 1 or 2, wherein the transparent portion is provided at two corners of the holding portion.
5. The laminating apparatus according to claim 4, wherein two imaging sections are provided corresponding to the two transparent sections.
The laminating device according to any one of claims 1 to 5, wherein the holding surface of the holding portion is provided with a plurality of suction holes.
The laminating device according to any one of claims 1 to 6,
a plurality of supply mechanisms capable of supplying the laminated objects to each of a plurality of supply positions;
a moving mechanism including a stator of a linear motor having a predetermined running track, and a movable element of the linear motor that is movable between the plurality of supply positions along the running track;
Equipped with
A lamination system, wherein the holding section and the lamination stage of the lamination apparatus are included in the mover.
The lamination system according to claim 7, wherein the moving mechanism includes a plurality of the movers.