JP6932569B2 - Robot arm and transfer system - Google Patents

Description

The present invention relates to a robot arm and a transfer system.

Inside the lithium ion secondary battery, the positive electrode and the negative electrode are separated by a porous separator. In the manufacture of a lithium ion secondary battery, a separator wound body in which this separator is wound around a cylindrical core is used. When manufacturing a separator, defects such as foreign matter adhering may occur, so it is necessary to inspect the separator for defects. In particular, when the defect is a conductive foreign substance such as metal, it may cause a short circuit inside the lithium ion secondary battery.

In Patent Document 1, the surface of a sheet-like object conveyed by a transfer roll is irradiated with visible light and infrared light, and the sheet-like object is based on imaging data according to the amount of received light of each reflected light. A defect inspection device for determining whether or not the type of surface defect is metal is disclosed.

Japanese Patent No. 5673621

Here, in the separator winding body, the separator is slit (cut) into a plurality of pieces from one raw material according to the size of the lithium ion secondary battery used, and each of them is wound around the core. Manufactured.

When this separator is slit from the original fabric, metal foreign matter easily adheres from the metal blade, so it is preferable to inspect the slit separator for defects. Further, since metal foreign matter is also generated from the sliding portion of the transport roll, it is preferable to inspect the defect with the separator wound body after the separator is wound around the core that does not come into contact with the roll thereafter. In this case, it is conceivable to transport the separator wound body to a defect inspection device or the like to inspect the defects.

However, the technique described in Patent Document 1 cannot inspect the presence or absence of foreign matter caught in the separator winding body, and does not disclose any configuration for transporting the separator winding body.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a robot arm and a transport system capable of efficiently transporting a separator wound body.

In order to solve the above problems, the robot arm according to one aspect of the present invention has a plurality of holding portions for holding a separator wound body in which a separator used for a battery is wound around an outer peripheral surface of a tubular core. It is characterized by being prepared.

According to the above configuration, since the robot arm can hold and transport a plurality of separator winding bodies at the same time, a robot arm capable of efficiently transporting the separator winding bodies is realized. be able to.

Further, in the robot arm according to one aspect of the present invention, the holding portion may hold the core.

In the above configuration, since the holding portion holds the core of the separator wound body, the separator wound body can be conveyed without directly touching the separator wound around the core.

Therefore, according to the above configuration, the separator wound body can be efficiently conveyed while suppressing the adhesion of foreign matter.

Further, the robot arm according to one aspect of the present invention further includes a base to which the holding portion is attached, one side surface of the base portion, and the other side surface of the base portion located on the side opposite to the one side surface. At least one holding portion may be attached to each of the above.

According to the above configuration, since the holding portions are attached to the two side surfaces of the base portion, for example, a robot arm capable of holding a plurality of separator winding bodies in parallel can be obtained.

Further, the robot arm according to one aspect of the present invention may further include a base portion to which the holding portion is attached, and the plurality of the holding portions may be attached along the longitudinal direction of the base portion.

According to the above configuration, it is possible to obtain a robot arm capable of holding a plurality of separator winding bodies in series.

In order to solve the above problems, the transfer system according to one aspect of the present invention is characterized by including the robot arm according to the present invention.

According to the above configuration, since the transport system includes a robot arm that simultaneously holds and transports a plurality of separator wound bodies, a transport system capable of efficiently transporting the separator wound bodies is realized. be able to.

In the transfer system according to one aspect of the present invention, the separator winding body is mounted, and the mounting portion that transfers the separator winding body to and from the robot arm, and the separator winding from the robot arm. It may be provided with a processing machine that receives the body and performs a predetermined processing.

According to the above configuration, the separator wound body can be efficiently conveyed, and a predetermined process can be applied to the separator wound body.

In the transport system according to one aspect of the present invention, the processing machine may be an X-ray inspection machine that inspects the separator.

According to the above configuration, the separator wound body can be efficiently transported to the X-ray inspection machine, and the separator wound body can be subjected to processing such as defect inspection using X-rays. In addition, it is possible to obtain a defect inspection machine that is easy to handle without increasing the cost.

According to one aspect of the present invention, it is possible to provide a robot arm and a transport system capable of efficiently transporting the separator winding body.

(A) and (b) are schematic views showing a schematic configuration of the slit device according to the first embodiment. (A) to (e) are schematic views for explaining the schematic structure of the separator wound body which concerns on Embodiment 1. (A) and (b) are schematic diagrams showing a schematic configuration of a transport system according to the first embodiment. It is a schematic diagram which shows an example of the schematic structure of the defect inspection apparatus which concerns on Embodiment 1. FIG. (A) to (d) are schematic views for explaining the schematic configuration and the operating state of the robot arm according to the first embodiment. (A) to (d) are schematic views for explaining a schematic configuration and an operating state of a modified example of the robot arm shown in FIGS. 5A to 5D. (A) and (b) are schematic diagrams for explaining the schematic configuration and the operating state of the other modified examples of the robot arm. It is a side view which shows the modification of the holding member provided in the stocker shown in FIG. (A) to (c) are schematic views for explaining a schematic configuration and an operating state of a modified example of the robot arm shown in FIGS. 6 (a) to 6 (d). (A) and (b) are schematic views for explaining the schematic configuration and the operating state of other modified examples of the robot arm shown in FIGS. 9 (a) to 9 (c). (A) to (c) are schematic views showing the schematic configuration of the transport system according to the second embodiment. (A) and (b) are schematic views which show the schematic structure of the transport system which concerns on Embodiment 3. (A) to (c) are schematic views showing the holding mechanism provided in the pre-inspection stocker shown in FIG. (A) and (b) are front views which show the operating state of the lifter which fixes the stocker before inspection. It is a top view which shows the schematic structure of the transport system which concerns on Embodiment 4. It is a schematic diagram which shows the transport system shown in FIG. 15 at different angles. It is a top view which shows the schematic structure of the transport system which concerns on Embodiment 5. It is a top view which shows the schematic structure of the transport system which concerns on Embodiment 6. It is a top view which shows the schematic structure of the transport system which concerns on Embodiment 7.

[Embodiment 1]
An embodiment of the present invention will be described below with reference to FIGS. 1 to 6. In the present embodiment, a case of inspecting whether or not a defect has occurred in the separator winding body by using the transfer system including the robot arm according to the present invention will be described as an example.

(Manufacturing process of separator winding body)
First, the manufacturing process of the separator wound body according to the present embodiment will be described. FIG. 1 is a schematic view showing a schematic configuration of a slit device 6 for slitting a separator. Specifically, FIG. 1A shows a schematic configuration of the entire slit device 6, and FIG. 1B shows a schematic configuration before and after slitting the original fabric.

The separator 12 is a porous film or a non-woven fabric that allows the movement of lithium ions between the cathode and the anode of a lithium ion secondary battery (battery) or the like while separating them. The separator 12 contains, for example, polyolefins such as polyethylene and polypropylene as its material.

The separator 12 may have a porous film and a functional layer provided on the surface of the porous film. Examples of the functional layer include a heat-resistant layer that imparts heat resistance, an adhesive layer that imparts adhesiveness, and the like. The heat-resistant layer contains, for example, a total aromatic polyamide (aramid resin), polyvinylidene fluoride (fluororesin), and the like as its material.

That is, the separator 12 may be a laminated porous film including a porous film containing polyolefin and a functional layer such as a heat-resistant layer or an adhesive layer. The functional layer contains resin. Examples of the resin include polyolefins such as polyethylene and polypropylene; fluoropolymers such as copolymers of vinylidene fluoride (PVDF), polytetrafluoroethylene and vinylidene fluoride-hexafluoropropylene; aromatic polyamides; and styrene-butadiene. Polymers and their hydrides, methacrylic acid ester copolymers, acrylonitrile-acrylic acid ester copolymers, styrene-acrylic acid ester copolymers and other rubbers; polymers with a melting point or glass transition temperature of 180 ° C or higher; polyvinyl Water-soluble polymers such as alcohol, polyethylene glycol, cellulose ether, sodium alginate, polyacrylic acid, polyacrylamide, and polymethacrylic acid; and the like. Further, the functional layer may contain a filler composed of an organic substance or an inorganic substance. Examples of the inorganic filler include inorganic oxides such as silica, magnesium oxide, alumina, aluminum hydroxide, and boehmite. The alumina has crystal forms such as α, β, γ, and θ, and any of them can be used. Only one type of the above resin and filler may be used, or two or more types may be combined. When the functional layer contains a filler, the content of the filler can be 1% by volume or more and 99% by volume or less of the functional layer.

The separator 12 preferably has a width suitable for an applied product such as a lithium ion secondary battery (hereinafter referred to as “product width”). However, in order to increase productivity, the separator is first manufactured so that its width is equal to or larger than the product width. Then, after being manufactured to be equal to or larger than the product width, the separator is cut (slit) to the product width.

The "separator width" means the length of the separator in a direction substantially perpendicular to the longitudinal direction and the thickness direction of the separator. Hereinafter, the wide separator before being slit is referred to as "original fabric". Further, the slit means to cut the separator along the longitudinal direction (the flow direction of the film in manufacturing), and the cut means to cut the separator along the transverse direction. The transverse direction means a direction substantially perpendicular to the longitudinal direction and the thickness direction of the separator, and is synonymous with the width direction of the separator.

The slit device 6 is a device that slits the original fabric. The slit device 6 includes a cylindrical winding roller 61 rotatably supported, rollers 62 to 69, and a plurality of winding rollers 70U / 70L.

In the slit device 6, a cylindrical core c around which the original fabric is wound is fitted to the unwinding roller 61.

Then, the raw fabric is unwound from the core c to the path U or L. The unwound raw fabric is conveyed to the roller 68 via the rollers 63 to 67. In the step of being conveyed from the roller 67 to the roller 68, the raw fabric is slit into a plurality of separators 12 (slit step). A cutting device (not shown) for slitting the raw fabric into a plurality of separators 12 is arranged in the vicinity of the roller 68.

After the slitting step, the separators 12 that have been slit into a plurality of pieces from the original fabric are each wound up by each of the cylindrical cores u fitted in the take-up roller 70U, and the other part is each taken up by the take-up roller 70L. It is wound around each of the cylindrical cores fitted in the core (separator winding step).

The separator 12 after being slit from the original fabric is wound around the core (bobbin) in a roll shape, and is referred to as a "separator wound body". In the present embodiment, after the separator winding body is manufactured in this separator winding step, it is inspected whether or not foreign matter is mixed in the separator winding body in the defect inspection step described later. In the slit step described above, foreign matter is likely to be generated, for example, a part of the slit blade made of metal is chipped and adheres to the surface of the slit separator 12. Therefore, it is preferable that the defect inspection step is provided after the slit step.

Then, the separator wound bodies determined to be non-defective products in the defect inspection process are then packaged together in a packaging process and stored / shipped.

(Structure of separator winding body)
Next, the configuration of the separator wound body according to the present embodiment will be described. FIG. 2 is a schematic view showing a schematic configuration of the separator winding body 10 according to the present embodiment. Specifically, FIG. 2A shows the state before the separator 12 is unwound from the core 8, FIG. 2B shows the state of FIG. 2A from another angle, and FIG. (C) shows the state in which the separator 12 is unwound from the core 8, (d) in FIG. 2 shows the state of (c) in FIG. 2 from another angle, and (e) in FIG. 2 shows the state in which the separator 12 is unwound. The state of the core 8 after being unwound and removed is shown.

As shown in FIGS. 2A and 2B, the separator winding body 10 includes a core 8 around which the separator 12 is wound. The separator 12 is slit from the original fabric as described above. Of the separator winding body 10, the outer peripheral surface of the separator 12 wound in a roll shape is referred to as an outer peripheral surface 10a, and one side surface of both side surfaces facing each other with the outer peripheral surface 10a interposed therebetween is referred to as a first side surface 10b. The other side surface opposite to the first side surface 10b is referred to as a second side surface 10c.

The core 8 includes an outer cylindrical member (outer cylindrical member) 81, an inner cylindrical member (inner tubular member) 82, and a plurality of ribs 83, and is the same as the core u and l described above.

The outer cylindrical member 81 is a cylindrical member for winding the separator 12 around the outer peripheral surface 81a. The inner cylindrical member 82 is a cylindrical member provided on the inner peripheral surface 81b side of the outer cylindrical member 81 and having a diameter smaller than that of the outer cylindrical member 81. The rib 83 is a support member that extends between the inner peripheral surface 81b of the outer cylindrical member 81 and the outer peripheral surface 82a of the inner cylindrical member 82 and supports the outer cylindrical member 81 from the inner peripheral surface 81b side. In the present embodiment, a total of eight ribs 83 are provided at equal intervals along the circumferential direction of the core 8.

The core 8 has a first through hole 8a defined by an inner cylindrical member 82 (inner peripheral surface 82b of the inner cylindrical member 82) at the center thereof, and has an outer cylindrical member 81 and an inner side around the first through hole 8a. It has a plurality of (eight in this embodiment) second through holes 8b defined by the cylindrical member 82 and the rib 83.

As shown in FIGS. 2 (c) and 2 (d), one end of the separator 12 is attached to the core 8 by the adhesive tape 130. Specifically, one end of the separator 12 is fixed to the outer peripheral surface 81a of the core 8 (outer cylindrical member 81) by the adhesive tape 130. The means for fixing one end of the separator 12 to the outer peripheral surface 81a may be fixed by directly applying an adhesive to one end of the separator 12, or fixing with a clip, in addition to the adhesive tape 130.

As shown in FIG. 2 (e), in the core 8, it is preferable that the central axes of the outer cylindrical member 81 and the inner cylindrical member 82 are substantially the same, but the core 8 is not limited to this. Further, the thickness, width, radius and other dimensions of the outer cylindrical member 81 and the inner cylindrical member 82 can be appropriately designed according to the type of the separator 12 to be wound and the like.

Further, the ribs 83 are arranged evenly spaced from each other at positions where the circumference is divided into eight equal parts so as to be substantially perpendicular to the outer cylindrical member 81 and the inner cylindrical member 82. However, the number of ribs 83 and the spacing between the ribs 83 are not limited to this.

The material of the core 8 contains ABS resin. However, the material of the core 8 is not limited to this. As the material of the core 8, in addition to the ABS resin, a resin such as a polyethylene resin, a polypropylene resin, a polystyrene resin, and a vinyl chloride resin may be contained. However, the material of the core 8 is preferably not a metal.

(Convey system configuration)
Next, the configuration of the transport system according to the present embodiment will be described. (A) and (b) of FIG. 3 are schematic views showing a schematic configuration of a transport system 1 according to the present embodiment. Specifically, FIG. 3A is a perspective view of the transport system 1, and FIG. 3B is a side view of the transport system 1.

This transport system 1 is a system for transporting the separator winding body 10 and performing various processes. In the present embodiment, the transport system 1 determines whether or not a defect has occurred in the separator winding body 10, and more specifically, whether or not foreign matter is mixed in the separator 12 wound around the core 8. It is a system for inspection.

As shown in FIG. 3, the transport system 1 includes a stocker (mounting portion) 2, a robot arm 3, and a defect inspection device (processing machine / X-ray inspection machine) 4.

(stocker)
The stocker 2 is a mounting portion for mounting a plurality of separator winding bodies 10. The separator winding body 10 before the inspection and the separator winding body 10 after the inspection are placed on the stocker 2, respectively. For example, in the stocker 2, the separator winding body 10 can be placed in two upper and lower stages, the separator winding body 10 before inspection is placed on the upper stage side, and the separator winding body 10 after inspection is placed on the lower stage side. Body 10 is placed.

The stocker 2 includes a plurality of holding members 21 for holding the separator winding body 10. The stocker 2 holds the separator winding body 10 by inserting the holding member 21 into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10. As a result, the stocker 2 holds each separator winding body 10 with the outer peripheral surface 10a of the separator winding body 10 facing the robot arm 3 side without directly touching the separator 12.

In order for the robot arm 3 to easily take out the separator winding body 10 from the stocker 2, the stocker 2 is provided with a holding member 21 so that the separator winding body 10 is placed at a wide interval. You may.

Further, the stocker 2 may be provided with an anti-rotation member for preventing the separator winding body 10 held by the holding member 21 from rotating. Examples of the rotation prevention member include an angle member (see FIG. 13) inserted into the second through hole 8b of the core 8 from the second side surface 10c side of the separator winding body 10. Usually, the outer peripheral surface 10a of the separator winding body 10 represents characters, numbers, or such information for displaying various information such as product information of the separator 12 and the winding diameter (outer diameter) of the separator winding body 10. Labels of the symbol system (bar code, QR code (registered trademark)) are affixed. By providing the rotation prevention member, the rotation of the separator winding body 10 held by the holding member 21 is prevented when the stocker 2 is moved or the like. Therefore, the orientation (position) of the label can be kept constant at all times, so that the label can be easily read.

Further, the stocker 2 may be provided with wheels or the like so that the stocker 2 can be easily moved.

Further, the stocker 2 may be provided with a dustproof cover for preventing foreign matter from adhering to the separator winding body 10 placed on the stocker 2. Thereby, for example, it is possible to prevent foreign matter from adhering to the separator winding body 10 while the stocker 2 is moving. Examples of such a dustproof cover include a clean cloth used for a clean booth, a (antistatic) plastic plate, and a metal plate.

Further, the transfer of the separator winding body 10 between the stocker 2 and the robot arm 3 may be performed by inserting the hand portion of the robot arm 3 into the frame of the stocker 2, or the holding member 21 is the stocker 2. A mechanism for taking the separator winding body 10 out of the frame may be provided, and the separator winding body 10 may be delivered outside the frame.

(Robot arm)
The robot arm 3 is a device that transfers the separator winding body 10 to and from the stocker 2. The robot arm 3 includes a base 31, a base 32, a first arm portion 33, a second arm portion 34, and a hand portion 35.

The base 32 is provided on the base 31 so as to be rotatable about the vertical direction. A first arm portion 33 is provided on the upper portion (the end portion on the side opposite to the end portion on which the base 31 is located) of the base 32. The first arm portion 33 is pivotally supported by the base 32 so that the first arm portion 33 can swing in the front-rear direction.

Further, a second arm portion 34 is provided on the tip end portion (the end portion on the side opposite to the end portion on which the base 32 is located) of the first arm portion 33. The second arm portion 34 is pivotally supported by the first arm portion 33 so that it can swing in the vertical direction.

Further, a hand portion 35 for gripping the separator winding body 10 is provided on the tip end portion (the end portion on the side opposite to the end portion on which the first arm portion 33 is located) of the second arm portion 34. The hand portion 35 is pivotally supported by the second arm portion 34 so that it can swing and rotate.

By controlling the operation of the actuator that drives each joint, the robot arm 3 can freely change its posture by turning or rotating each part.

The robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10. In this way, the holding member 21 of the stocker 2 and the robot arm 3 hold the core 8 from different side surfaces of the separator winding body 10, so that the separator winding body 10 between the stocker 2 and the robot arm 3 is held. Can be delivered efficiently.

The joint portion, sliding portion, and the like of the robot arm 3 may be provided with a scattering prevention cover for preventing the scattering of dusted metal foreign matter. Further, an O-ring seal may be provided on the joint shaft, or low dust generation grease may be applied. Further, the robot arm 3 may be separately provided with a mechanism for sucking metal foreign matter generated inside the robot arm 3.

Further, in the present embodiment, the vertical articulated robot arm is used as the robot arm 3, but a horizontal articulated robot arm, a Cartesian robot arm, a parallel link robot arm, or the like may be used. The details of the robot arm 3 will be described later.

(Defect inspection device)
The defect inspection device 4 is a device for inspecting whether or not foreign matter is mixed in the separator 12 wound around the core 8 in the separator winding body 10. The defect inspection device 4 inspects whether or not foreign matter is mixed in the separator 12 by, for example, irradiating the separator winding body 10 with an electromagnetic wave (electromagnetic radiation).

The defect inspection device 4 is covered with a wall 45 in which electromagnetic waves containing lead and the like are difficult to transmit so that the electromagnetic waves to be handled do not leak to the outside. Further, an opening 46 is provided in a part of the wall 45, and by opening and closing a door (not shown), the separator winding body 10 can be carried in and out by the robot arm 3 through the opening 46. There is.

FIG. 4 is a schematic view showing an example of a schematic configuration of the defect inspection device 4 according to the present embodiment. As shown in FIG. 4, the defect inspection device 4 includes a radiation source unit 41 that emits electromagnetic waves, a sensor unit 42 that detects electromagnetic waves emitted by the radiation source unit 41, and a holding mechanism 43 that holds the separator winding body 10. And have. Further, the defect inspection device 4 includes a control unit 44 that controls the drive of the entire defect inspection device 4.

In the present embodiment, the irradiation direction of the electromagnetic waves of the radiation source unit 41 is the X-axis direction (left-right direction of the paper surface), and the vertical direction (vertical direction of the paper surface) perpendicular to the X-axis is the Z-axis direction.

The radiation source unit 41 emits an electromagnetic wave transmitted through the separator 12 wound around the core 8 in the width direction to the separator winding body 10. Examples of such electromagnetic waves include electromagnetic waves having a wavelength of 1 pm to 10 nm. Among these, X-rays are preferable as the electromagnetic waves emitted by the radiation source unit 41. As a result, it is possible to obtain a defect inspection device 4 that is easy to handle without increasing the cost.

The electromagnetic wave emitting surface 41a of the radiation source unit 41 is arranged so as to face the detection surface 42a of the sensor unit 42 via the separator winding body 10 set in the holding mechanism 43.

The sensor unit 42 is a detector capable of detecting the electromagnetic wave emitted by the radiation source unit 41 on the detection surface 42a. When the sensor unit 42 detects the electromagnetic wave emitted by the radiation source unit 41, the sensor unit 42 outputs an electric signal corresponding to the intensity of the detected electromagnetic wave to the sensor control unit 443 of the control unit 44. When the sensor control unit 443 acquires the electric signal from the sensor unit 42, the sensor control unit 443 generates a captured image based on the electric signal.

The sensor unit 42 may be a detector capable of detecting electromagnetic waves in the wavelength band emitted by the radiation source unit 41. For example, the sensor unit 42 may be a detector capable of detecting X-rays when the radiation source unit 41 irradiates X-rays, and can detect γ-rays when the radiation source unit 41 irradiates γ-rays. It may be a detector.

In the present embodiment, the sensor unit 42 is a flat panel detector (FPD) capable of detecting X-rays and having pixels arranged in a matrix. The sensor unit 42 is an FPD having 1500 × 1500 pixels or 2000 × 2000 pixels in length and width, and one pixel having an optimum size such as 20 μm to 2000 μm is selected according to the size of the foreign matter to be detected. ..

The area of the detection surface 42a of the sensor unit 42 may be smaller than the area of the side surface of the separator winding body 10. In this method, the separator winding body 10 is rotated to photograph each part of the separators 12 stacked in an annular shape on the core 8, and the necessary regions are extracted from them and joined to photograph the entire image. This is because an image can be obtained.

The holding mechanism 43 holds the separator winding body 10 to be inspected so as to be movable in the X-axis direction and the Z-axis direction. That is, the holding mechanism 43 moves the separator winding body 10 relative to the radiation source portion 41. The holding mechanism 43 may also be movable in the Y-axis direction (direction toward the back of the paper surface) that intersects perpendicularly with the X-axis direction and the Z-axis direction.

The holding mechanism 43 has a shape extended in the X-axis direction, and holds the separator winding body 10 so that the separator winding body 10 can rotate about an axis parallel to the X-axis. Specifically, the defect inspection device 4 inserts the holding mechanism 43 into the first through hole 8a from the second side surface 10c side of the separator winding body 10 to hold the separator winding body 10. As a result, the defect inspection device 4 can hold the separator winding body 10 from the first side surface 10b side without directly touching the separator 12.

In the defect inspection device 4, the separator winding body 10 is set so that at least a part of the separator 12 wound around the core 8 is interposed between the radiation source unit 41 and the sensor unit 42.

From the viewpoint of preventing the generation of metallic foreign matter, the holding mechanism 43 preferably has at least a sliding portion made of resin. There are no restrictions on the type of resin, and general-purpose resins such as polyethylene resin, polypropylene resin, polystyrene resin, vinyl chloride resin, acrylic resin, ABS, and polyester, engineering plastics such as polyacetal, polyamide, polycarbonate, and modified polyphenylene ether, polyarylate, and polysulfone. , Polyether sulfone, polyphenylene sulfide, polyether ether ketone, polyimide, polyetherimide and other super engineering plastics and the like are used. Of these, super engineering plastics that are resistant to wear are preferable because they are used for sliding parts, and polyetheretherketone is more preferable.

When the separator winding body 10 is set in the holding mechanism 43, the radiation source unit 41, the separator winding body 10, and the sensor unit 42 are arranged side by side in this order in the defect inspection device 4. Of the side surfaces of the separator winding body 10 set in the holding mechanism 43, the second side surface 10c faces the emission surface 41a of the radiation source unit 41, and the first side surface 10b faces the detection surface 42a of the sensor unit 42. ..

The control unit 44 controls the drive of the entire defect inspection device 4, including the drive control of each of the radiation source unit 41, the sensor unit 42, and the holding mechanism 43. Specifically, the control unit 44 controls the drive of the radiation source control unit 441 that controls the drive of the radiation source unit 41, the holding mechanism control unit 442 that controls the drive of the holding mechanism 43, and the sensor unit 42. It is provided with a sensor control unit 443 that obtains an captured image based on detection information from the sensor unit 42.

In the defect inspection device 4 having such a configuration, the operation of rotating the separator winding body 10 held by the holding mechanism 43 in the θ direction by a predetermined angle and taking a picture is repeated, and the annular shape wound around the core 8 is formed. The separator 12 is photographed. As a result, the entire captured image of the separator winding body 10 can be photographed, and a necessary region can be extracted and joined to obtain the entire captured image. Further, by analyzing the obtained captured image as a whole, it is possible to inspect whether or not foreign matter is mixed in the separator 12.

After inspecting the separator winding body 10, it is preferable to return the holding mechanism 43 to the coordinates and rotation angle of the initial position. As a result, the separator winding body 10 can be smoothly transferred between the holding mechanism 43 and the robot arm 3.

Further, the defect inspection device 4 may include a reading sensor unit that reads the above-mentioned label attached to the separator winding body 10 by a laser, image processing, or the like. In this case, the defect inspection device 4 reads various information such as the product number and the winding diameter from the label attached to the separator winding body 10 carried in by the robot arm 3 by the reading sensor unit and outputs the various information to the control unit 44. As a result, the control unit 44 controls the radiation source unit 41, the holding mechanism 43, and the like based on various information output from the reading sensor unit, so that the foreign matter of the separator winding body 10 is determined according to the winding diameter and the like. The inspection can be performed properly.

Further, the defect inspection device 4 may transmit information such as the product number of the separated separator winding body 10 inspected and the inspection result to the product information management system which is an external device. As a result, product information for each product can be collectively managed by the product information management system. The information transmitted from the defect inspection device 4 to the product information management system may include error information regarding the separator winding body 10 in which the defect is found. Examples of the error information include information on defective foreign matter, defective outer shape (winding diameter), and reading defect such as the label displaying various information cannot be read by the reading sensor unit.

Further, the defect inspection device 4 may transmit the inspection result to the robot arm 3. As a result, the robot arm 3 can sort the separated separator winding body 10 after the inspection into either a non-defective product or a defective product and place it on the stocker 2 according to the inspection result.

(Details of robot arm)
Next, the details of the robot arm 3 will be described with reference to FIG. 5 (a) to 5 (d) are schematic views for explaining a schematic configuration and an operating state of the robot arm 3. Specifically, FIG. 5A shows an operation of collecting the separated separator winding body 110 after the inspection from the holding mechanism 43 of the defect inspection device 4 in a state where the robot arm 3 holds the separator winding body 111 before the inspection. The state is shown, FIG. 5 (b) shows an operating state in which the robot arm 3 rotates the hand portion 35, and FIG. 5 (c) shows the robot arm 3 attaching the separator winding body 111 before inspection to the holding mechanism 43. The operating state of setting is shown, and FIG. 5D shows the operating state of the robot arm 3 after setting the separator winding body 111 before the inspection on the holding mechanism 43.

As shown in FIGS. 5A to 5D, the robot arm 3 has a configuration capable of holding a plurality of separator winding bodies 10 at the same time. The hand portion 35 of the robot arm 3 includes a base portion 351 having a shape having a longitudinal direction, and a first grip portion 352 (holding portion) and a second grip portion (holding portion) 353 provided on the base portion 351.

The base portion 351 is connected to the second arm portion 34, and the first grip portion 352 and the second grip portion 352 and the second grip portion are connected to the tip portion of the base portion 351 (the end portion opposite to the end portion where the second arm portion 34 is located). 353 are attached substantially symmetrically with the base 351 in between. As a result, the robot arm 3 according to the present embodiment holds the two separator winding bodies 10 in parallel.

The first grip portion 352 includes a pair of finger portions 352a and 352b, and grips the core 8 of the separator winding body 10 by changing the interval between the pair of finger portions 352a and 352b. Similarly, the second grip portion 353 includes a pair of finger portions 353a and 353b, and grips the core 8 of the separator winding body 10 by changing the distance between the pair of finger portions 353a and 353b. The number of fingers is not limited to a pair (two), and may be composed of three or more fingers.

From the viewpoint of preventing the generation of metallic foreign matter, the surfaces of the sliding portions of the first grip portion 352 and the second grip portion 353 are preferably made of resin. There are no restrictions on the type of resin, and general-purpose resins such as polyethylene resin, polypropylene resin, polystyrene resin, vinyl chloride resin, acrylic resin, ABS, and polyester, engineering plastics such as polyacetal, polyamide, polycarbonate, and modified polyphenylene ether, polyarylate, and polysulfone. , Polyether sulfone, polyphenylene sulfide, polyether ether ketone, polyimide, polyetherimide and other super engineering plastics and the like are used. Of these, strong super engineering plastics are preferable, and polyetheretherketone is more preferable.

Alternatively, the first grip portion 352 and the second grip portion 353 may be subjected to urethane lining treatment. As a result, it is possible to realize the first grip portion 352 and the second grip portion 353 that suppress slippage and generation of metal foreign matter without damaging the core 8.

The hardness of the first grip portion 352 and the second grip portion 353 is preferably A70 or more and A90 or less, and more preferably A70. If the hardness of the first grip portion 352 and the second grip portion 353 is larger than A90, it is too hard and slippery, and if it is smaller than A70, chucking failure is likely to occur.

In the present embodiment, the robot arm 3 has a first grip portion 352 (a pair of finger portions 352a and 352b) and a second grip portion in the second through hole 8b of the core 8 from the first side surface 10b side of the separator winding body 10. 353 (a pair of finger portions 353a and 353b) is inserted to hold the separator winding body 10. Further, the defect inspection device 4 inserts the holding mechanism 43 into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10 to hold the separator winding body 10.

As shown in FIG. 5A, when the separator winding body 110 (separator winding body 10 after inspection) is collected from the holding mechanism 43, the robot arm 3 is moved from the second side surface 10c side by the holding mechanism 43. The held separator winding body 110 is held from the first side surface 10b side by the first gripping portion 352 and collected.

Next, as shown in FIG. 5B, the robot arm 3 that has recovered the separator winding body 110 once retracts and rotates the hand portion 35 by 180 degrees. As a result, the separator winding body 111 (separator winding body 10 before inspection) held by the second grip portion 353 is positioned on the holding mechanism 43 side.

Next, as shown in FIG. 5C, the robot arm 3 advances to a position where the separator winding body 111 faces the holding mechanism 43, and sets the separator winding body 111 in the holding mechanism 43. At this time, the robot arm 3 inserts the holding mechanism 43 into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 111, and sets the separator winding body 111 in the holding mechanism 43.

Next, as shown in FIG. 5D, the robot arm 3 in which the separator winding body 111 is set in the holding mechanism 43 retracts and moves to the outside of the defect inspection device 4. After the robot arm 3 moves to the outside of the defect inspection device 4, the door of the defect inspection device 4 is closed, and the defect inspection of the separator winding body 111 is performed.

As described above, in the present embodiment, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the holding mechanism 43 of the defect inspection device 4 holds the second side surface 10c of the separator winding body 10. Hold the core 8 from the side. In this way, since the robot arm 3 and the defect inspection device 4 hold the core 8 from different side surfaces of the separator winding body 10, the separator winding body 10 is delivered between the robot arm 3 and the defect inspection device 4. Can be done efficiently.

Further, since the holding mechanism 43 of the robot arm 3 and the defect inspection device 4 both holds the core 8 of the separator winding body 10, the robot arm 3 and the defect inspection device 4 are attached to the separator 12 wound around the core 8. The separator winding body 10 can be conveyed without direct contact.

Further, the robot arm 3 inserts the first grip portion 352 and the second grip portion 353 into the second through hole 8b of the core 8 to hold the separator winding body 10, and the defect inspection device 4 is the first of the core 8. The holding mechanism 43 is inserted into the through hole 8a to hold the separator winding body 10. In this way, since the robot arm 3 and the defect inspection device 4 hold different parts of the core 8, the separator winding body 10 is more efficiently transferred between the robot arm 3 and the defect inspection device 4. be able to.

In the present embodiment, the robot arm 3 has a configuration capable of holding two separator winding bodies 10, but the present invention is not limited to this configuration. The robot arm 3 may be configured to hold three or more separator winding bodies 10.

Further, the first grip portion 352 and the second grip portion 353 of the robot arm 3 hold the first through hole 8a of the core 8, and the holding member 21 of the stocker 2 and the holding mechanism 43 of the defect inspection device 4 hold the core 8. It may be configured to hold the second through hole 8b of the above.

(Summary of transport system)
As described above, in the transport system 1 according to the present embodiment, the first grip portion 352 and the second grip portion 352 and the second grip portion hold the separator winding body 10 in which the separator 12 is wound around the outer peripheral surface 81a of the tubular core 8. Includes a robot arm 3 with 353.

Therefore, according to the present embodiment, there is a transport system 1 capable of efficiently transporting the separator winding body 10 while suppressing foreign matter from adhering to the separator winding body 10 and performing a predetermined treatment on the separator winding body 10. It can be realized.

A belt conveyor or the like may be used instead of the stocker 2 as a mounting portion on which the separator winding body 10 is mounted.

(Modification example 1)
6 (a) to 6 (d) are schematic views for explaining a schematic configuration and an operating state of a modified example of the robot arm 3 shown in FIGS. 5 (a) to 5 (d). Specifically, FIG. 6A shows an operation of collecting the separated separator winding body 110 after the inspection from the holding mechanism 43 of the defect inspection device 4 in a state where the robot arm 3 holds the separator winding body 111 before the inspection. The state is shown, FIG. 6B shows an operating state in which the robot arm 3 rotates the hand portion 35, and FIG. 6C shows the robot arm 3 attaches the separator winding body 111 before inspection to the holding mechanism 43. The operating state of setting is shown, and FIG. 6D shows the operating state of the robot arm 3 after setting the separator winding body 111 before the inspection on the holding mechanism 43.

As shown in FIGS. 6A to 6D, the robot arm 3 is a hand in which the first grip portion 352 and the second grip portion 353 are attached to the holding mechanism 43 side along the longitudinal direction of the base portion 351. The unit 35 may be provided. As a result, the robot arm 3 holds the two separator winding bodies 10 in series.

In the robot arm 3 provided with such a hand portion 35, as shown in FIG. 6A, when the separator winding body 110 is collected from the holding mechanism 43, the robot arm 3 has a second side surface by the holding mechanism 43. The separator winding body 10 held from the 10c side is held from the first side surface 10b side by the first gripping portion 352 and collected.

Next, as shown in FIGS. 6 (b) and 6 (c), in the robot arm 3 in which the separator winding body 110 is recovered, the separator winding body 111 held by the second grip portion 353 is attached to the holding mechanism 43. It advances to the opposite position and sets the separator winding body 111 in the holding mechanism 43.

Next, as shown in FIG. 6D, the robot arm 3 sets the separator winding body 111 in the holding mechanism 43, then retracts and moves to the outside of the defect inspection device 4.

As described above, the configuration in which the robot arm 3 holds the plurality of separator winding bodies 110 is not particularly limited, and the configuration in which the plurality of separator winding bodies 10 are held in parallel, the configuration in which the plurality of separator winding bodies 10 are held in series, or these are held. It may be a combination configuration.

The first grip portion 352 and the second grip portion 353 need not be attached substantially symmetrically (substantially opposed to each other) with the base portion 351 sandwiched between them, and may be attached asymmetrically with the base portion 351 sandwiched between them. That is, it is sufficient that the first grip portion 352 is attached to one side surface of the base portion 351 and the second grip portion 353 is attached to the other side surface of the base portion 351 located on the side opposite to the one side surface.

(Modification 2)
7 (a) and 7 (b) are schematic views for explaining a schematic configuration and an operating state of another modified example of the robot arm 3. Specifically, FIG. 7A is a side view showing a schematic configuration of a tip portion of the robot arm 3, and FIG. 7B is a separator winding by the robot arm 3 shown in FIG. 7A. It is a side view which shows the operation state which holds a rotating body 10. In FIG. 7B, the separator winding body 10 located in front of the robot arm 3 is shown by a broken line.

As shown in FIGS. 7A and 7B, a winding for detecting the presence / absence of the separator winding body 10 before inspection held by the holding member 21 of the stocker 2 near the tip of the robot arm 3. The rotating sensor unit 36 may be provided. When the separator winding body 10 is detected by the winding body sensor unit 36, the robot arm 3 takes out the separator winding body 10 from the stocker 2. On the other hand, if it is not detected, the robot arm 3 moves the tip portion to a position where the separator winding body 10 waiting for the next inspection turn is placed, and sequentially detects the presence or absence of the separator winding body 10.

Specifically, the robot arm 3 reduces the speed of the hand portion 35 in front of the stocker 2, and the winding body sensor unit 36 detects the outer peripheral surface 10a of the separator winding body 10. When the outer peripheral surface 10a of the separator winding body 10 is detected by the winding body sensor unit 36, the robot arm 3 inserts a pair of finger portions 352a and 352b of the first gripping portion 352 into the second through hole 8b of the core 8. Then, the distance between the fingers 353a and 353b is widened. As a result, the robot arm 3 holds the core 8 of the separator winding body 10 and takes out the separator winding body 10 from the stocker 2.

In this way, when the robot arm 3 includes the winding body sensor unit, the robot arm 3 detects the presence or absence of the separator winding body 10 and conveys the separator winding body 10 from the stocker 2 to the defect inspection device 4. It becomes possible. Therefore, the tact time required for the foreign matter inspection of the separator 12 can be shortened.

The winding diameter (outer diameter) of the separator winding body 10 may be actually measured by the winding body sensor unit. As described above, various information such as the winding diameter is displayed in advance on the label attached to the separator winding body 10, but the winding diameter of the separator winding body 10 may change with time due to winding tightening or the like. Therefore, the winding body sensor unit may actually measure the winding diameter of the separator winding body 10 and transmit the measured value to the defect inspection device 4. As a result, the defect inspection device 4 can more appropriately inspect the separator winding body 10 for foreign matter according to the actually measured winding diameter and the like.

(Modification example 3)
FIG. 8 is a side view showing a modified example of the holding member 21 included in the stocker 2 shown in FIG. As shown in FIG. 8, the stocker 2 holds two positions of the separator winding body 10 from the second side surface 10c side to the outer peripheral surface 10a instead of the holding member 21 that holds the first through hole 8a of the core 8. The holding member 21a may be provided. Since the holding member 21a holds two points on the outer peripheral surface 10a of the separator winding body 10, the separator winding body 10 can be held without rotating. Therefore, according to the holding member 21a, the separator winding body 10 can be held while preventing the separator winding body 10 from rotating. In this case, it is preferable that the holding member 21a is configured so as not to contact the separator 12 but to contact only the core 8 on the second side surface 10c side of the separator winding body 10. Further, unlike the holding member 21 shown in FIG. 3, the holding member 21a does not enter the inside of the first through hole 8a of the core 8, so that it is necessary for transferring the robot arm 3 and the separator winding body 10. The space in the stocker 2 can be reduced.

(Modification example 4)
9 (a) to 9 (c) are schematic views for explaining a schematic configuration and an operating state of a modified example of the robot arm 3 shown in FIGS. 6 (a) to 6 (d). Specifically, FIG. 9A is a side view showing the hand portion 35 of the robot arm 3, FIG. 9B is a front view of the hand portion 35, and FIG. 9C is a front view. It is a front view which shows the state of the foreign matter inspection of the separator winding body 10. Note that FIG. 9 shows a simplified configuration of the separator winding body 10.

As shown in FIGS. 9A to 9C, the robot arm 3 may be configured to be capable of inspecting foreign matter in the defect inspection device 4 while holding the separator winding body 10.

For example, as shown in FIG. 9A, the robot arm 3 is a thin plate rotatably supported by a rotation shaft 354 and a rotation shaft 354 provided at the tip of the base portion 351 of the hand portion 35. A rotary grip portion 356 provided at both ends of the shaped rotary member 355 and the rotary member 355 and rotatably holding the separator winding body 10 is provided. Therefore, as shown in FIG. 9B, by rotating the rotation shaft 354, each separator winding body 10 can be rotated around the rotation shaft 354.

In such a robot arm 3, for example, as shown in FIG. 9C, two sets of robot arms 3 are arranged to face each other by rotating the rotation shaft 354 by about 90 ° in the defect inspection device 4. The separator winding body 10 is arranged between the radiation source unit 41 and the sensor unit 42, respectively. Then, the rotary grip portion 356 repeats the operation of rotating each separator winding body 10 in the θ direction by a predetermined angle to take a picture, and takes a picture of the annular separator 12. This makes it possible to simultaneously perform a foreign matter inspection on each separator winding body 10.

In this way, by simultaneously performing the foreign matter inspection of each separator winding body 10 while the robot arm 3 holds the plurality of separator winding bodies 10, the tact time required for the foreign matter inspection of the separator 12 can be shortened. can.

Further, since it is not necessary to transfer the separator winding body 10 between the robot arm 3 and the defect inspection device 4 (holding mechanism 43), the time for transfer can be omitted, and the defect inspection device 4 can be used. Since it is not necessary to provide the holding mechanism 43, the configuration of the defect inspection device 4 can be simplified.

10 (a) and 10 (b) are schematic views for explaining a schematic configuration and an operating state of a modified example of the robot arm 3 shown in FIGS. 9 (a) to 9 (c). Specifically, FIG. 10A is a side view showing the hand portion 35 of the robot arm 3, and FIG. 10B is a front view showing a state of foreign matter inspection of the separator winding body 10.

As shown in FIGS. 10A and 10B, the robot arm 3 may have a configuration in which two rotary grip portions 356 are directly provided on the base portion 351 of the hand portion 35. In the case of such a configuration, two sets of the radiation source portion 41 and the sensor portion 42 may be arranged along the extending direction of the base portion 351 of the hand portion 35. According to such a configuration, it is not necessary to include the above-mentioned rotating shaft 354 and rotating member 355, so that the configuration of the robot arm 3 can be simplified.

[Embodiment 2]
Another embodiment of the present invention will be described below with reference to FIG. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above-described embodiment, and the description thereof will be omitted.

(Convey system configuration)
11 (a) to 11 (c) are schematic views showing a schematic configuration of a transport system 101 according to the present embodiment. Specifically, FIG. 11A is a perspective view of the transfer system 101, FIG. 11B is a side view of the transfer system 101, and FIG. 11C is a top view of the transfer system 101. Is.

As shown in FIGS. 11A to 11C, the transport system 101 mainly includes the pre-inspection stocker 201 and the post-inspection stocker 202 in place of the stocker 2, and is mainly the same as the transport system 1 described above. It's different.

(Stocker before inspection)
The pre-inspection stocker 201 is a mounting portion for mounting the pre-inspection separator winding body 10 (110). The specific configuration of the pre-inspection stocker 201 is substantially the same as the configuration of the stocker 2 described above.

The pre-inspection stocker 201 inserts the holding member 21 into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10 to hold the separator winding body 10. As a result, the pre-inspection stocker 201 holds each separator winding body 10 with the outer peripheral surface 10a side of the separator winding body 10 facing the robot arm 3 side without directly touching the separator 12.

The robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10 placed on the pre-inspection stocker 201, and takes out the separator winding body 10 from the pre-inspection stocker 201. Then, the separator winding body 10 taken out from the stocker 201 before inspection is carried into the defect inspection device 4, and the defect inspection is performed on the separator winding body 10.

(Stocker after inspection)
The post-inspection stocker 202 is a mounting portion for mounting the post-inspection separator winding body 10 (110). The specific configuration of the pre-inspection stocker 201 is substantially the same as the configuration of the stocker 2 and the pre-inspection stocker 201 described above.

After the inspection, the stocker 202 receives the separated separator winding body 10 after the inspection from the robot arm 3. Specifically, in the post-inspection stocker 202, the holding member 21 is inserted into the first through hole 8a of the core 8 from the second side surface 10c side of the inspected separator winding body 10, and the inspected separator winding body 10 is wound. Receive body 10. As a result, after the inspection, the stocker 202 holds each separator winding body 10 with the outer peripheral surface 10a side of the separator winding body 10 facing the robot arm 3 side without directly touching the separator 12.

(Summary of transport system)
As described above, in the transfer system 101, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the holding member 21 of the pre-inspection stocker 201 and the post-inspection stocker 202 is the separator winding body. The core 8 is held from the second side surface 10c of the 10. Therefore, since the robot arm 3, the pre-inspection stocker 201, and the post-inspection stocker 202 hold the separator winding body 10 from different side surfaces of the separator winding body 10, the separator winding body 10 can be efficiently delivered. It can be carried out.

Further, the robot arm 3 and the holding member 21 of the pre-inspection stocker 201 and the post-inspection stocker 202 both directly touch the separator 12 wound around the core 8 in order to hold the core 8 of the separator winding body 10. The separator winding body 10 can be conveyed without any problem.

Further, the robot arm 3 inserts the first grip portion 352 and the second grip portion 353 into the second through hole 8b of the core 8 to hold the separator winding body 10, and the pre-inspection stocker 201 and the post-inspection stocker 202 The holding member 21 is inserted into the first through hole 8a of the core 8 to hold the separator winding body 10. As described above, since the robot arm 3, the pre-inspection stocker 201 and the post-inspection stocker 202 hold different parts of the core 8, the separator winding body 10 can be delivered more efficiently.

As a mounting portion on which the separator winding body 10 is placed, a belt conveyor or the like may be used instead of the pre-inspection stocker 201 and the post-inspection stocker 202. Further, the stocker and the belt conveyor may be used in combination. For example, of the pre-inspection stocker 201 and the post-inspection stocker 202, the post-inspection stocker 202 may be replaced with a belt conveyor. As a result, the separator wound body 10 after the inspection can be immediately transported to the next process, and the tact time required for manufacturing the separator 12 can be shortened.

[Embodiment 3]
Another embodiment of the present invention will be described below with reference to FIGS. 12 to 14. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above-described embodiment, and the description thereof will be omitted.

(Convey system configuration)
12 (a) and 12 (b) are schematic views showing a schematic configuration of a transport system 102 according to the present embodiment. Specifically, FIG. 12A is a perspective view of the transport system 102, and FIG. 12B is a top view of the transport system 102.

As shown in FIGS. 12A and 12B, the transport system 102 described above includes a pre-inspection stocker 203, a non-defective stocker 204, and a defective stocker 205 in place of the stocker 2. Mainly different from system 1.

(Stocker before inspection)
The pre-inspection stocker 203 is a mounting portion for mounting the separator winding body 10 (111) before inspection. The pre-inspection stocker 203 includes a plurality of holding members 121 for holding the separator winding body 10. These holding members 121 are projected toward the robot arm 3 side, and the pre-inspection stocker 203 connects the holding member 121 to the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10. Insert to hold the separator winder 10. As a result, each separator winding body 10 is held with the first side surface 10b side of the separator winding body 10 facing the robot arm 3 side without directly touching the stocker 203 and the separator 12 before inspection.

According to the pre-inspection stocker 203, since a plurality of separator winding bodies 10 can be held by one holding member 121, the number of separator winding bodies 10 that can be placed can be increased.

The robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10 placed on the pre-inspection stocker 203, and takes out the separator winding body 10 from the pre-inspection stocker 203. Then, the separator winding body 10 taken out from the stocker 203 before inspection is carried into the defect inspection device 4, and the defect inspection is performed on the separator winding body 10.

(Good stocker)
The non-defective stocker 204 is a mounting portion for mounting the separator winding body 10 (110) after the inspection in which no defect is found. The specific configuration of the non-defective stocker 204 is substantially the same as the configuration of the pre-inspection stocker 203.

The non-defective stocker 204 receives the separated separator winding body 10 after the inspection in which no defect is found from the robot arm 3. Specifically, in the non-defective stocker 204, the holding member 121 is inserted into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10 after the inspection in which no defect is found, and the separator is separated. Receive the winder 10. As a result, the non-defective stocker 204 holds each separator winding body 10 with the first side surface 10b side of the separator winding body 10 facing the robot arm 3 side.

(Defective product stocker)
The defective stocker 205 is a mounting portion for mounting the separator winding body 10 (110) after the inspection in which the defect is found. The specific configuration of the defective stocker 205 is substantially the same as the configuration of the pre-inspection stocker 203 and the non-defective stocker 204.

The defective stocker 205 receives the separator winding body 10 after the inspection in which the defect is found from the robot arm 3. Specifically, in the defective stocker 205, the holding member 121 is inserted into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10 after the inspection in which the defect is found, and the separator is separated. Receive the winder 10. As a result, the defective stocker 205 holds each separator winding body 10 with the first side surface 10b side of the separator winding body 10 facing the robot arm 3 side.

(Summary of transport system)
As described above, in the present embodiment, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the holding member 121 of the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205 The core 8 is held from the second side surface 10c side of the separator winding body 10. Therefore, the robot arm 3, the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205 hold the separator winding body 10 from different side surfaces of the separator winding body 10, so that the separator winding body 10 is delivered. Can be done efficiently.

Further, the robot arm 3 and the holding member 121 of the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205 are all separated by the core 8 in order to hold the core 8 of the separator winding body 10. The separator winding body 10 can be conveyed without directly touching the separator winding body 10.

Further, the robot arm 3 inserts the first grip portion 352 and the second grip portion 353 into the second through hole 8b of the core 8 to hold the separator winding body 10, and holds the pre-inspection stocker 203, the non-defective stocker 204, and the defect. The product stocker 205 holds the separator winding body 10 by inserting the holding member 121 into the first through hole 8a of the core 8. In this way, since the robot arm 3, the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205 hold different parts of the core 8, the separator winding body 10 can be delivered more efficiently. can.

As a mounting portion on which the separator winding body 10 is mounted, a belt conveyor or the like may be used instead of the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205. Further, the stocker and the belt conveyor may be used in combination. For example, of the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205, the non-defective stocker 204 may be replaced with a belt conveyor. As a result, the separator winding body 10 in which no defect is found can be immediately transported to the packing process, and the tact time required for manufacturing the separator 12 can be shortened.

(Modification example 1)
The pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205 may be provided with an anti-rotation member for preventing the separator winding body 10 held by the holding member 121 from rotating. Hereinafter, the pre-inspection stocker 203 will be described as an example, but the same applies to the non-defective stocker 204 and the defective stocker 205.

13 (a) to 13 (c) are schematic views showing a holding mechanism 120 included in the pre-inspection stocker 203. Specifically, FIG. 13A is a top view of the holding mechanism 120, FIG. 13B is a front view of the holding mechanism 120, and FIG. 13C is a perspective view of the holding mechanism 120. be.

As shown in FIGS. 13A to 13C, the holding mechanism 120 includes a holding member 121 inserted into the first through hole 8a of the core 8 of the separator winding body 10, and a second through hole 8b of the core 8. Includes two angle members 22 inserted into the disk and a substantially disk-shaped disk base 23. The holding member 121 and the two angle members 22 are respectively projected from the disk base 23.

The holding member 121 is projected from the substantially center of the disk base 23, and is inserted into the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10 to hold the separator winding body 10. do.

The angle member 22 is an anti-rotation member for preventing the separator winding body 10 held by the holding member 121 from rotating. Each angle member 22 projects from the disk base 23 so as to be substantially parallel to the holding member 121. Each angle member 22 is inserted into the second through hole 8b of the core 8 from the second side surface 10c side of the separator winding body 10. As a result, the rotation of the separator winding body 10 held by the holding member 121 can be prevented, and the orientation (angle) of the separator winding body 10 can be kept constant. The angle member 22 may be formed in any shape and number as long as it can prevent the separator winding body 10 held by the holding member 121 from rotating.

(Modification 2)
The transport system 102 may include a lifter for fixing the pre-inspection stocker 203, the non-defective stocker 204, and the defective stocker 205 in place. Hereinafter, the pre-inspection stocker 203 will be described as an example, but the same applies to the non-defective stocker 204 and the defective stocker 205.

14 (a) and 14 (b) are front views showing an operating state of the lifter 214 for fixing the pre-inspection stocker 203 shown in FIG. Specifically, FIG. 14A shows a state in which the lifter 214 is in the descending position, and FIG. 14B shows a state in which the lifter 214 is in the ascending position.

As shown in FIGS. 14A and 14B, the lifter 214 is installed at a predetermined position on the floor F. Wheels 215 are attached to the pre-inspection stocker 203 so that the pre-inspection stocker 203 can be easily moved. When the pre-inspection stocker 203 is carried above the lifter 214 at a predetermined position, the pre-inspection stocker 203 The lifter 214 installed below is operated from the descending position to the ascending position. As a result, the wheels 215 of the stocker 203 before inspection can be fixed in a state of being pushed up by about 20 mm from the floor F.

As described above, by using the lifter 214, the pre-inspection stocker 203 in the transport system 102 can be easily positioned and fixed. Further, by fixing the stocker 203 before inspection in a pushed-up state by the lifter 214, it is possible to suppress the influence of the state of the floor F and the individual difference in the manufacturing accuracy of the stocker, and absorb the positional deviation in the horizontal and vertical directions. can.

[Embodiment 4]
Another embodiment of the present invention will be described below with reference to FIGS. 15 and 16. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above-described embodiment, and the description thereof will be omitted.

(Convey system configuration)
FIG. 15 is a top view showing a schematic configuration of the transport system 103 according to the present embodiment, and FIG. 16 is a schematic view showing the transport system 103 shown in FIG. 15 at different angles. As shown in FIGS. 15 and 16, the transport system 103 is different from the above-mentioned transport system 1 in that the belt conveyor 206 is provided in place of the stocker 2 as a mounting portion on which the separator winding body 10 is mounted. Mainly different.

(belt conveyor)
The belt conveyor 206 is a mounting portion for mounting a plurality of separator winding bodies 10. The separator winding body 10 (111) before the inspection and the separator winding body 10 (110) after the inspection are placed on the belt conveyor 206, respectively. In the present embodiment, a belt conveyor is used as the mounting portion, but various conveyors such as a chain conveyor, a roller conveyor, and a screw conveyor may be used instead of the belt conveyor.

The belt conveyor 206 has a holding surface (mounting surface) 206a for holding (mounting) the separator winding body 10. The belt conveyor 206 transports the separator winding body 10 in a state where the second side surface 10c side of the separator winding body 10 is held by the holding surface 206a. In the present embodiment, the separator 12 is wound on the outer peripheral surface 81a of the core 8 so that the side surface of the core 8 projects toward the holding surface 206a from the side surface of the separator 12 on the second side surface 10c side of the separator winding body 10. It is preferable that it is turned. As a result, the belt conveyor 206 can carry the core 8 of the separator winding body 10 by holding it by the holding surface 206a without directly touching the separator 12.

In the transport system 103, the belt conveyor 206 is intermittently driven to move the separator winding body 10 by a predetermined distance. Then, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10 before inspection carried by the belt conveyor 206, and carries the separator winding body 10 into the defect inspection device 4. Further, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10 after inspection, sets the second side surface 10c on the holding surface 206a side, and puts the separator winding body 10 on the belt conveyor 206. Place it. In this way, in the transport system 103, the operation of moving the separator winding body 10 by a predetermined distance by the belt conveyor 206 to carry out the foreign matter inspection is repeated.

The holding surface 206a of the belt conveyor 206 may be provided with a protrusion that supports the separator winding body 10 away from the holding surface 206a. This makes it possible to more reliably prevent the separator 12 from coming into contact with the holding surface 206a. Further, it is possible to prevent the separator winding body 10 on the belt conveyor 206 (holding surface 206a) from being displaced due to the vibration caused by the operation of the belt conveyor 206.

(Summary of transport system)
As described above, in the transfer system 103 according to the present embodiment, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the belt conveyor 206 holds the core 8 from the first side surface 10b side of the separator winding body 10. The core 8 is held from the 10c side.

In this way, the robot arm 3 and the belt conveyor 206 directly touch the separator 12 wound around the core 8 by holding the core 8 of the separator winding body 10 from different side surfaces of the separator winding body 10. Without this, the separator winding body 10 can be efficiently delivered between the robot arm 3 and the belt conveyor 206.

Further, by using the belt conveyor 206 as the mounting portion, it is possible to automate the transportation of the separator winding body 10 before and after the inspection and shorten the tact time required for manufacturing the separator 12.

[Embodiment 5]
Another embodiment of the present invention will be described below with reference to FIG. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above-described embodiment, and the description thereof will be omitted.

(Convey system configuration)
FIG. 17 is a top view showing a schematic configuration of the transport system 104 according to the present embodiment. As shown in FIG. 17, the transport system 104 includes a pre-inspection belt conveyor 207 and a post-inspection belt conveyor 208 as a mounting portion on which the separator winding body 10 is placed, in place of the stocker 2. It is mainly different from the conveyor system 1 that has been used.

(Belt conveyor before inspection)
The pre-inspection belt conveyor 207 is a mounting portion for mounting the pre-inspection separator winding body 10 (111). The specific configuration of the pre-inspection belt conveyor 207 is substantially the same as the configuration of the belt conveyor 206 described above.

The pre-inspection belt conveyor 207 transports the separator winding body 10 in a state where the core 8 is held by the holding surface 207a from the second side surface 10c side of the separator winding body 10. The robot arm 3 holds the core 8 from the first side surface 10b side of the pre-inspection separator winding body 10 carried by the pre-inspection belt conveyor 207, and carries the separator winding body 10 into the defect inspection device 4.

(Belt conveyor after inspection)
The post-inspection belt conveyor 208 is a mounting portion for mounting the post-inspection separator winding body 10 (110). The specific configuration of the post-inspection belt conveyor 208 is substantially the same as the configuration of the belt conveyor 206 described above.

After this inspection, the belt conveyor 208 carries the separator winding body 10 in a state where the core 8 is held by the holding surface 208a from the second side surface 10c side of the separator winding body 10. The robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10 after inspection, sets the second side surface 10c to the holding surface 208a side, and puts the separator winding body 10 on the belt conveyor 208 after inspection. Place it.

(Summary of transport system)
As described above, in the transfer system 104 according to the present embodiment, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the pre-inspection belt conveyor 207 and the post-inspection belt conveyor 208 are separators. The core 8 is held from the second side surface 10c side of the winding body 10.

In this way, the robot arm 3, the pre-inspection belt conveyor 207, and the post-inspection belt conveyor 208 are wound around the core 8 in order to hold the core 8 of the separator winding body 10 from different side surfaces of the separator winding body 10. The separator winding body 10 can be efficiently delivered between the robot arm 3, the pre-inspection belt conveyor 207, and the post-inspection belt conveyor 208 without directly touching the separated separator 12.

Further, by using the pre-inspection belt conveyor 207 and the post-inspection belt conveyor 208 as the mounting portion, for example, the separator winding body 10 after the inspection can be immediately transported to the next process, which is required for manufacturing the separator 12. The tact time can be shortened. The stocker and the belt conveyor may be used in combination.

[Embodiment 6]
Another embodiment of the present invention will be described below with reference to FIG. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above-described embodiment, and the description thereof will be omitted.

(Convey system configuration)
FIG. 18 is a top view showing a schematic configuration of the transport system 105 according to the present embodiment. As shown in FIG. 18, the transport system 105 includes a pre-inspection belt conveyor 209, a non-defective belt conveyor 210, and a defective belt conveyor 211 as a mounting portion on which the separator winding body 10 is mounted, instead of the stocker 2. In that respect, it is mainly different from the above-mentioned transfer system 1.

(Belt conveyor before inspection)
The pre-inspection belt conveyor 209 is a mounting portion for mounting the pre-inspection separator winding body 10 (111). The specific configuration of the pre-inspection belt conveyor 209 is substantially the same as the configuration of the belt conveyor 206 described above.

The pre-inspection belt conveyor 209 conveys the separator winding body 10 in a state where the core 8 is held by the holding surface 209a from the second side surface 10c side of the separator winding body 10. The robot arm 3 holds the core 8 from the first side surface 10b side of the pre-inspection separator winding body 10 carried by the pre-inspection belt conveyor 209, and carries the separator winding body 10 into the defect inspection device 4.

(Good belt conveyor)
The non-defective belt conveyor 210 is a mounting portion for mounting the separator winding body 10 (110) after inspection in which no defect is found. The specific configuration of the non-defective belt conveyor 210 is substantially the same as the configuration of the belt conveyor 206 described above.

The non-defective belt conveyor 210 transports the separator winding body 10 in a state where the core 8 is held by the holding surface 210a from the second side surface 10c side of the separator winding body 10. In the robot arm 3, the separator winding body 10 after the inspection in which no defect was found holds the core 8 from the first side surface 10b side, and the second side surface 10c is set to the holding surface 210a side, and the separator is placed on the non-defective belt conveyor 210. The winding body 10 is placed.

(Defective belt conveyor)
The defective belt conveyor 211 is a mounting portion for mounting the separator winding body 10 (110) after the inspection in which the defect is found. The specific configuration of the defective belt conveyor 211 is substantially the same as the configuration of the belt conveyor 206 described above.

The defective belt conveyor 211 transports the separator winding body 10 in a state where the core 8 is held by the holding surface 211a from the second side surface 10c side of the separator winding body 10. The robot arm 3 holds the core 8 of the separated separator winding body 10 after the inspection in which no defect is found from the first side surface 10b side, and makes the second side surface 10c the holding surface 211a side to the defective belt conveyor 211. The separator winding body 10 is placed.

In this way, the robot arm 3, the pre-inspection belt conveyor 209, the non-defective belt conveyor 210, and the defective belt conveyor 211 hold the core 8 of the separator winding body 10 from different side surfaces of the separator winding body 10. As a result, the separator winding body 10 can be efficiently delivered between the robot arm 3 and the pre-inspection belt conveyor 209, the non-defective belt conveyor 210, and the defective belt conveyor 211.

(Summary of transport system)
As described above, in the transfer system 105 according to the present embodiment, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the pre-inspection belt conveyor 209, the non-defective belt conveyor 210, and the defective product. The belt conveyor 211 holds the core 8 from the second side surface 10c side of the separator winding body 10.

In this way, the robot arm 3, the pre-inspection belt conveyor 209, the non-defective belt conveyor 210, and the defective belt conveyor 211 hold the core 8 of the separator winding body 10 from different side surfaces of the separator winding body 10. Efficient delivery of the separator winding body 10 between the robot arm 3 and the pre-inspection belt conveyor 209, the non-defective belt conveyor 210 and the defective belt conveyor 211 without directly touching the separator 12 wound around the core 8. Can be done.

Further, by using the pre-inspection belt conveyor 209, the non-defective belt conveyor 210, and the defective belt conveyor 211 as the mounting portion, for example, the separator winding body 10 in which no defect is found can be immediately transported to the packing process. Therefore, the tact time required for manufacturing the separator 12 can be shortened. The stocker and the belt conveyor may be used in combination.

[Embodiment 7]
Another embodiment of the present invention will be described below with reference to FIG. For convenience of explanation, the same reference numerals will be added to the members having the same functions as the members described in the above-described embodiment, and the description thereof will be omitted.

(Convey system configuration)
FIG. 19 is a top view showing a schematic configuration of the transport system 106 according to the present embodiment. As shown in FIG. 19, the transport system 106 is mainly different from the above-described transport system 1 in that the transport system 106 includes a housing 47 and various devices are arranged inside the housing 47.

(Case)
The housing 47 is formed of a wall surface through which electromagnetic waves containing lead and the like are difficult to pass so that the electromagnetic waves to be handled do not leak to the outside. By opening and closing a door (not shown), the housing 47 allows the separator winding body 10 to be carried in and out.

In the transport system 106, two sets of foreign matter inspection units (processing) including a pre-inspection stocker 201, a post-inspection stocker 202, a robot arm 3, a radiation source unit 41, a sensor unit 42, and a holding mechanism 43 inside the housing 47. Machine) is arranged. Since the transport system 106 includes two sets of foreign matter inspection units, foreign matter inspection can be performed on the two separator winding bodies 10 in parallel at the same time. Each foreign matter inspection unit is controlled by a control unit (not shown).

Further, also in the present embodiment, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10, and the pre-inspection stocker 201, the post-inspection stocker 202, and the holding mechanism 43 are the separator winding body 10. The core 8 is held from the second side surface 10c side. It is possible to efficiently transfer the separator winding body 10 between the robot arm 3 and the pre-inspection stocker 201, the post-inspection stocker 202, and the holding mechanism 43 without directly touching the separator 12 wound around the core 8. can.

(Summary of transport system)
As described above, in the transport system 106 according to the present embodiment, the pre-inspection stocker 201, the post-inspection stocker 202, the robot arm 3, and a plurality of foreign matter inspection units are arranged inside the housing 47. Therefore, since the foreign matter inspection can be performed on the plurality of separator winding bodies 10 in parallel inside the housing 47, the tact time required for the foreign matter inspection of the separator 12 can be shortened.

In the transport system 106, the foreign matter inspection unit arranged inside the housing 47 may be one set or two or more sets. Further, in the transport system 106, the number of the pre-inspection stocker 201, the post-inspection stocker 202, and the robot arm 3 arranged inside the housing 47 may be two or more.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 Transport system 2 Stocker (mounting part)
3 Robot arm 4 Defect inspection device (processing machine / X-ray inspection machine)
8 core 81 outer cylindrical member (outer cylindrical member)
81a Outer peripheral surface 81b Inner peripheral surface 82 Inner cylindrical member (inner tubular member)
82a Outer peripheral surface 82b Inner peripheral surface 10 Separator winding body 10a Outer peripheral surface 10b First side surface 10c Second side surface 12 Separator 101 Transport system 102 Transport system 103 Transport system 104 Transport system 105 Transport system 106 Transport system 201 Pre-inspection stocker (mounting) Department)
202 Stocker after inspection (mounting part)
203 Pre-inspection stocker (mounting part)
204 Good product stocker (mounting part)
205 Defective product stocker (mounting part)
206 Belt conveyor (mounting part)
207 Pre-inspection belt conveyor (mounting part)
208 After inspection Belt conveyor (mounting part)
209 Pre-inspection belt conveyor (mounting part)
210 Good product belt conveyor (mounting part)
211 Defective product belt conveyor (mounting part)
351 Base 352 First grip (holding part)
353 Second grip (holding part)

Claims (6)

The separator used for the battery is provided with a plurality of holding portions for holding the separator wound body wound around the outer peripheral surface of the tubular core.
Further provided with a base to which the holding portion is attached
One side of said base, and each of the other side of the base said the one side surface located on the opposite side, the robot arm that has at least one of the holding portion is attached. The robot arm according to claim 1, wherein the holding portion holds the core. Further provided with a base to which the holding portion is attached
The robot arm according to claim 1 or 2 , wherein the plurality of holding portions are attached along the longitudinal direction of the base portion. A transfer system including the robot arm according to any one of claims 1 to 3. A mounting portion on which the separator winding body is placed and the separator winding body is delivered to and from the robot arm.
The transfer system according to claim 4 , further comprising a processing machine that receives the separator winding body from the robot arm and performs a predetermined process. The transport system according to claim 5 , wherein the processing machine is an X-ray inspection machine that inspects the separator.

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