JP2018174120A - Transport system and transport method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transfer a separator winding body while adhesion of a foreign matter is suppressed.SOLUTION: A transfer system (1) according to an embodiment of the present invention includes a robot arm (3) that takes out a separator winding body (10) from a stocker (2) by holding a core from the first side face side of the separator winding body (10) with the separator wound around the outer peripheral surface of a cylindrical core and a defect inspection apparatus (4) that holds the core from the second side face side and receives the separator winding body (10) from the robot arm (3) and conduct a defect inspection.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a separator winding body transport system and a transport method.

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

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

Japanese Patent No. 5673621

  Here, according to the size of the lithium ion secondary battery to be used, the separator winding body is formed by slitting (cutting) the separator into a plurality of pieces from one original fabric and winding them around the core. Manufactured.

  When this separator is slit from the raw fabric, metal foreign objects are likely to adhere from the metal blade, and therefore it is preferable to inspect the slit separator for defects. In addition, since the metal foreign matter is also generated from the sliding portion of the transport roll or the like, it is preferable that the defect inspection is performed on the separator wound body after the separator is wound around the core that does not come into contact with the roll.

  However, in the defect inspection apparatus described in Patent Document 1, once the separator is wound around the core, it is not possible to inspect for the presence or absence of foreign matter caught in the separator wound body.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to efficiently convey the separator winding body while suppressing foreign matter from adhering, and to perform a predetermined treatment on the separator winding body. It is an object of the present invention to provide a separator winding body transport system and a transport method capable of performing the above.

  In order to solve the above-described problem, a transport system according to an aspect of the present invention includes a separator used for a battery wound from the first side surface of a separator wound body wound around an outer peripheral surface of a cylindrical core. A robot arm that holds the core and takes out the separator winding body from the mounting portion on which the separator winding body is placed, and a second side surface side of the separator winding body that is opposite to the first side surface. A processing machine that holds the core, receives the separator wound body from the robot arm, and performs a predetermined process.

  In the above configuration, the robot arm holds the core from the first side surface of the separator winding body, and the processor holds the core from the second side surface of the separator winding body. Since the robot arm and the processor hold the core from different side surfaces of the separator winding body, the separator winding body can be efficiently transferred between the robot arm and the processing machine. Further, since both the robot arm and the processing machine hold the core of the separator winding body, the separator winding body can be transported without the robot arm and the processing machine directly touching the separator wound around the core. it can.

  Therefore, according to the above configuration, it is possible to realize a transport system capable of efficiently transporting the separator winding body and performing predetermined processing on the separator winding body while suppressing adhesion of foreign matters. it can.

  In the transport system according to one aspect of the present invention, the core includes an outer cylindrical member having the outer peripheral surface and an inner cylindrical member provided inside the outer cylindrical member, and the robot arm May hold between the outer cylindrical member and the inner cylindrical member, and the processor may hold an inner peripheral surface of the inner cylindrical member.

  According to said structure, since a robot arm and a processor hold | maintain a different part of a core, respectively, delivery of a separator winding body can be performed more efficiently.

  Moreover, in the conveyance system which concerns on 1 aspect of this invention, the said mounting part may be a stocker holding the said core from the said 2nd side surface side of the said separator winding body.

  In the above configuration, since the stocker and the robot arm hold the core from different side surfaces of the separator winding body, the separator winding body can be efficiently transferred between the stocker and the robot arm. In addition, since the stocker holds the core of the separator winding body, the separator winding body can be placed without the stocker directly touching the separator wound around the core.

  Therefore, according to the above configuration, it is possible to efficiently convey the separator winding body while suppressing the adhesion of foreign matters, and to perform a predetermined process on the separator winding body.

  In the transport system according to one aspect of the present invention, the robot arm may hold a plurality of separator winding bodies.

  According to said structure, since a robot arm hold | maintains a some separator winding body, it becomes possible to convey a paralator winding body more efficiently.

  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 said structure, a separator winding body is efficiently conveyed to an X-ray inspection machine, suppressing that a foreign material adheres, and processing, such as a defect inspection using X-rays, with respect to a separator winding body Can be applied. Moreover, it is possible to obtain a defect inspection machine that is easy to handle without increasing the cost.

  In order to solve the above-described problem, a transport method according to an aspect of the present invention is a robot from the first side surface of a separator winding body in which a separator used in a battery is wound around an outer peripheral surface of a cylindrical core. A step of holding the core by an arm and taking out the separator winding body from a mounting portion on which the separator winding body is placed; and a second side surface of the separator winding body on the side opposite to the first side surface Holding the core from the side, receiving the separator wound body from the robot arm, and performing a predetermined process.

  In the above method, the separator winding body can be efficiently conveyed without the robot arm and the processing machine coming into contact with the separator wound around the core.

  Therefore, according to the above method, it is possible to efficiently convey the separator winding body while suppressing the adhesion of foreign matters, and to perform a predetermined process on the separator winding body.

  According to one aspect of the present invention, the separator winding body can be efficiently transported while suppressing the adhesion of foreign matter to the separator winding body, and the separator winding body can be subjected to predetermined processing. The system and the conveying method can be provided.

(A) And (b) is a schematic diagram which shows schematic structure of the slit apparatus which concerns on Embodiment 1. FIG. (A)-(e) is a schematic diagram for demonstrating schematic structure of the separator winding body which concerns on Embodiment 1. FIG. (A) And (b) is a schematic diagram which shows schematic structure of the conveyance system which concerns on Embodiment 1. FIG. It is the schematic which shows an example of schematic structure of the defect inspection apparatus which concerns on Embodiment 1. FIG. (A)-(d) is a schematic diagram for demonstrating schematic structure and operation state of the robot arm which concerns on Embodiment 1. FIG. (A)-(d) is a schematic diagram for demonstrating schematic structure and operation state of the modification of the robot arm shown by (a)-(d) of FIG. (A) And (b) is a schematic diagram for demonstrating schematic structure and the operation state of the other modification of the said robot arm. It is a side view which shows the modification of the holding member with which the stocker shown by FIG. 3 is provided. (A)-(c) is a schematic diagram which shows schematic structure of the conveyance system which concerns on Embodiment 2. FIG. (A) And (b) is a schematic diagram which shows schematic structure of the conveyance system which concerns on Embodiment 3. FIG. (A)-(c) is a schematic diagram which shows the holding mechanism with which the pre-inspection stocker shown by FIG. 10 is provided. (A) And (b) is a front view which shows the operation state of the lifter which fixes the said stocker before a test | inspection. It is a top view which shows schematic structure of the conveyance system which concerns on Embodiment 4. It is a schematic diagram which shows the conveyance system shown by FIG. 13 at a different angle. It is a top view which shows schematic structure of the conveyance system which concerns on Embodiment 5. FIG. It is a top view which shows schematic structure of the conveyance system which concerns on Embodiment 6. FIG. It is a top view which shows schematic structure of the conveyance system which concerns on Embodiment 7.

Embodiment 1
An embodiment of the present invention will be described below with reference to FIGS. In the present embodiment, an example will be described in which whether or not a defect is generated in the separator winding body using the transport system according to the present invention will be described.

(Separator winding body manufacturing process)
First, the manufacturing process of the separator winding body which concerns on this embodiment is demonstrated. FIG. 1 is a schematic diagram 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 separates a cathode and an anode of a lithium ion secondary battery (battery) or the like and allows lithium ions to move between them. The separator 12 includes, for example, polyolefin 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 or an adhesive layer that imparts adhesiveness. The heat-resistant layer includes, for example, wholly 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 includes a resin. Examples of the resin include polyolefins such as polyethylene and polypropylene; fluorine-containing polymers such as polyvinylidene fluoride (PVDF), polytetrafluoroethylene, and a copolymer of vinylidene fluoride-hexafluoropropylene; aromatic polyamide; styrene-butadiene copolymer Polymers and their hydrides, methacrylic acid ester copolymers, acrylonitrile-acrylic acid ester copolymers, rubbers such as styrene-acrylic acid ester copolymers; polymers having a melting point or glass transition temperature of 180 ° C. or higher; polyvinyl And water-soluble polymers such as alcohol, polyethylene glycol, cellulose ether, sodium alginate, polyacrylic acid, polyacrylamide, and polymethacrylic acid. The functional layer may include a filler made of an organic material or an inorganic material. 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. As for said resin and filler, only 1 type may be used and 2 or more types may be combined. When the said functional layer contains a filler, content of a filler can be 1 volume% or more and 99 volume% or less of a functional layer.

  The separator 12 preferably has a width suitable for application products such as lithium ion secondary batteries (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 greater than the product width. And after manufacturing beyond 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”. Moreover, a slit means cutting | disconnecting a separator along a longitudinal direction (flow direction of the film in manufacture), and a cutting means cutting a separator along a cross 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 for slitting the original fabric. The slit device 6 includes a cylindrical unwinding roller 61, rollers 62 to 69, and a plurality of winding rollers 70U and 70L that are rotatably supported.

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

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

  After the slitting process, the separators 12 slit into a plurality of pieces from the original fabric are respectively wound around cylindrical cores u fitted on the winding roller 70U, and the other parts are respectively wound on the winding roller 70L. Is wound around each of the cylindrical cores l fitted into the separator (separator winding step).

  The separator 12 after being slit from the raw fabric is wound around a core (bobbin) in a roll shape and is referred to as a “separator wound body”. In this embodiment, after a separator winding body is manufactured in this separator winding step, it is inspected in a defect inspection step described later whether foreign matter is mixed in the separator winding body. In the above-described slitting process, for example, a part of a slit blade made of metal is chipped and adheres to the surface of the slit separator 12, and foreign matters are likely to be generated. For this reason, it is preferable to provide a defect inspection process after a slit process.

  Then, a plurality of separator rolls determined as non-defective products in the defect inspection process are packaged and stored / shipped together in the packaging process.

(Configuration of separator roll)
Next, the structure of the separator winding body which concerns on this embodiment is demonstrated. FIG. 2 is a schematic diagram illustrating a schematic configuration of the separator wound body 10 according to the present embodiment. 2A shows a state before the separator 12 is unwound from the core 8, FIG. 2B shows the state of FIG. 2A from a different angle, and FIG. (C) of FIG. 2 shows a state where the separator 12 is unwound from the core 8, (d) of FIG. 2 shows the state of (c) of FIG. 2 from another angle, and (e) of FIG. The state of the core 8 after being unwound and removed is shown.

  As shown in FIGS. 2A and 2B, the separator wound body 10 includes a core 8 around which a separator 12 is wound. The separator 12 is slit from the original as described above. Of the separator wound 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 across the outer peripheral surface 10a is defined as a first side surface 10b. The other side opposite to the first side 10b is referred to as a second side 10c.

  The core 8 includes an outer cylindrical member (outer cylindrical member) 81, an inner cylindrical member (inner cylindrical member) 82, and a plurality of ribs 83, and is the same as the core u · 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 having a smaller diameter than the outer cylindrical member 81 provided on the inner peripheral surface 81 b side 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 (an inner peripheral surface 82b of the inner cylindrical member 82) at the center, and the outer cylindrical member 81 and the inner side are disposed around the first through hole 8a. A plurality (eight in the present embodiment) of second through holes 8b defined by the cylindrical member 82 and the ribs 83 are provided.

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

  As shown in (e) of FIG. 2, in the core 8, it is preferable that the central axes of the outer cylindrical member 81 and the inner cylindrical member 82 substantially coincide with each other, but the present invention is not limited to this. Furthermore, 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.

  In addition, the ribs 83 are arranged at equal intervals from each other and approximately perpendicular to the outer cylindrical member 81 and the inner cylindrical member 82 at positions obtained by dividing the circumference into eight equal parts. However, the number of ribs 83 and the arrangement interval are not limited thereto.

  The material of the core 8 includes ABS resin. However, the material of the core 8 is not limited to this. As a 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 included. However, the material of the core 8 is preferably not a metal.

(Conveying system configuration)
Next, the configuration of the transport system according to the present embodiment will be described. FIGS. 3A and 3B are schematic views showing a schematic configuration of the 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 conveyance system 1 is a system for conveying 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, 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 unit) 2, a robot arm 3, and a defect inspection apparatus (processing machine / X-ray inspection machine) 4.

(stocker)
The stocker 2 is a placement unit for placing a plurality of separator winding bodies 10. On the stocker 2, the separator winding body 10 before the inspection and the separator winding body 10 after the inspection are respectively placed. For example, the stocker 2 is capable of placing the separator winding body 10 in two upper and lower stages, the separator winding body 10 before inspection is placed on the upper side, and the separator winding body after inspection is placed on the lower side. The 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 8 a of the core 8 from the second side surface 10 c side of the separator winding body 10. Thereby, the stocker 2 holds each separator winding body 10 with the outer peripheral surface 10 a of the separator winding body 10 facing the robot arm 3 side without directly touching the separator 12.

  In order to make it easy for the robot arm 3 to 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. May be.

  The stocker 2 may include a rotation preventing member for preventing the separator wound body 10 held by the holding member 21 from rotating. Examples of the rotation preventing member include an angle member (see FIG. 11) inserted into the second through hole 8b of the core 8 from the second side face 10c side of the separator winding body 10. Usually, the outer peripheral surface 10a of the separator wound body 10 represents characters, numbers, or information for displaying various information such as product information of the separator 12 and a winding diameter (outer diameter) of the separator wound body 10. A label of a symbol system (bar code, QR code (registered trademark)) is attached. By providing the rotation preventing member, the separator wound body 10 held by the holding member 21 is prevented from rotating when the stocker 2 is moved. For this reason, since the direction (position) of the label can always be kept constant, the label can be easily read.

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

  The stocker 2 may be provided with a dustproof cover for preventing foreign matter from adhering to the separator winding body 10 placed thereon. Thereby, it can prevent that a foreign material adheres to the separator winding body 10 during the movement of the stocker 2, for example. Examples of such a dustproof cover include a clean cloth used in a clean booth, a (antistatic) plastic plate, a metal plate, and the like.

  Further, the separator wound body 10 may be transferred between the stocker 2 and the robot arm 3 with the hand portion of the robot arm 3 entering the frame of the stocker 2 or the holding member 21 of the stocker 2. A separator winding body 10 may be provided outside the frame, and the separator winding body 10 may be transferred outside the frame.

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

  The base 32 is provided on the base 31 so as to be pivotable about the vertical direction. A first arm portion 33 is provided on the upper side of the base 32 (the end opposite to the end where the base 31 is located). The first arm portion 33 is pivotally supported on 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 distal end portion (the end portion 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 as to be swingable in the vertical direction.

  Furthermore, a hand portion 35 that grips the separator winding body 10 is provided on the distal end portion of the second arm portion 34 (the end portion opposite to the end portion where the first arm portion 33 is located). The hand part 35 is pivotally supported by the second arm part 34 so as to be swingable and rotatable.

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

  The robot arm 3 holds the core 8 from the first side face 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, thereby separating the separator winding body 10 between the stocker 2 and the robot arm 3. Can be efficiently delivered.

  In addition, the anti-scattering cover for preventing the scattering of the metal foreign material which generate | occur | produced in the joint part of the robot arm 3, a sliding part, etc. may be provided. Further, an O-ring seal may be provided on the joint shaft, and a low dust generation grease may be applied. Further, the robot arm 3 may further include a mechanism for sucking metal foreign matter generated inside the robot arm 3.

  In this embodiment, a vertical articulated robot arm is used as the robot arm 3, but a horizontal articulated robot arm, an orthogonal robot arm, a parallel link robot arm, or the like may be used. Details of the robot arm 3 will be described later.

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

  The defect inspection apparatus 4 is covered with a wall 45 through which an electromagnetic wave containing lead or the like is difficult to transmit so that the electromagnetic wave to be handled does not leak to the outside. In addition, an opening 46 is provided in a part of the wall 45, and by opening and closing a door (not shown), the separator arm 10 can be carried in and out by the robot arm 3 through the opening 46. Yes.

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

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

  The radiation source unit 41 emits electromagnetic waves that pass through the separator 12 wound around the core 8 in the width direction with respect to the separator wound body 10. Examples of such an electromagnetic wave include an electromagnetic wave having a wavelength of 1 pm to 10 nm. Among these, X-rays are preferable as the electromagnetic waves emitted from the radiation source unit 41. Thereby, the defect inspection apparatus 4 which is easy to handle without increasing the cost can be obtained.

  The electromagnetic wave emission surface 41 a of the radiation source unit 41 is disposed so as to face the detection surface 42 a of the sensor unit 42 through the separator wound body 10 set in the holding mechanism 43.

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

  The sensor unit 42 may be a detector that can detect electromagnetic waves in the wavelength band emitted from the radiation source unit 41. For example, the sensor unit 42 may be a detector that can detect X-rays when the radiation source unit 41 emits X-rays, and can detect γ-rays when the source unit 41 emits γ-rays. Any detector may be used.

  In the present embodiment, the sensor unit 42 is a flat panel detector (FPD) in which X-ray detection is possible and pixels are arranged in a matrix. The sensor unit 42 is an FPD having 1500 × 1500 pixels in length and width and 2000 × 2000 pixels, and selects a pixel having an optimal size such as 20 μm to 2000 μm per pixel according to the size of a foreign object to be detected. .

  Note that the area of the detection surface 42 a of the sensor unit 42 may be smaller than the area of the side surface of the separator wound body 10. This is because the separator winding body 10 is rotated to photograph a portion of the separator 12 stacked in an annular shape on the core 8, and a necessary region is extracted from them and joined together to capture the whole 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 wound body 10 relative to the radiation source unit 41. The holding mechanism 43 may be movable also in the Y-axis direction (the front side in the drawing) perpendicular to the X-axis direction and the Z-axis direction.

  The holding mechanism 43 has a shape extending in the X-axis direction, and holds the separator winding body 10 so that the separator winding body 10 can rotate around an axis parallel to the X axis. Specifically, the defect inspection apparatus 4 holds the separator winding body 10 by inserting the holding mechanism 43 into the first through hole 8a from the second side face 10c side of the separator winding body 10. Thereby, the defect inspection apparatus 4 can hold | maintain the separator winding body 10 from the 1st side surface 10b side, without touching the separator 12 directly.

  In the defect inspection apparatus 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 portion 41 and the sensor portion 42.

  In the holding mechanism 43, it is preferable that at least the sliding portion is made of resin from the viewpoint of preventing the occurrence of metallic foreign matter. There are no restrictions on the type of resin, 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 Super engineering plastics such as polyethersulfone, polyphenylene sulfide, polyetheretherketone, polyimide, and polyetherimide are used. Of these, super engineering plastics that are resistant to wear are preferred because they are used for sliding parts, and polyether ether ketone is more preferred.

  When the separator winding body 10 is set in the holding mechanism 43, in the defect inspection apparatus 4, the radiation source section 41, the separator winding body 10, and the sensor section 42 are arranged in this order in the X-axis direction. Of the two side surfaces of the separator wound body 10 set in the holding mechanism 43, the second side surface 10 c faces the emission surface 41 a of the radiation source portion 41, and the first side surface 10 b faces the detection surface 42 a of the sensor portion 42. .

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

  In the defect inspection apparatus 4 having such a configuration, an operation of rotating the separator wound body 10 held by the holding mechanism 43 in the θ direction by a predetermined angle is repeated, and an annular shape wound around the core 8 is repeated. The separator 12 is photographed. Thereby, the whole separator image | photographing body 10 is image | photographed, a whole picked-up image can be obtained by extracting and connecting a required area | region. Further, it is possible to inspect whether or not foreign material is mixed in the separator 12 by analyzing the entire captured image obtained.

  In addition, after the separator winding body 10 is inspected, the holding mechanism 43 is preferably returned to the initial position coordinates and rotation angle. Thereby, the separator winding body 10 can be smoothly transferred between the holding mechanism 43 and the robot arm 3.

  Further, the defect inspection apparatus 4 may include a reading sensor unit that reads the above-described label attached to the separator wound body 10 by laser, image processing, or the like. In this case, the defect inspection apparatus 4 reads various information such as a product number and a winding diameter from the label affixed to the separator wound body 10 carried in by the robot arm 3, and outputs the information to the control unit 44. Accordingly, 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 controlled according to the winding diameter and the like. Inspection can be performed appropriately.

  Moreover, the defect inspection apparatus 4 may transmit information such as the product number of the inspected separator winding body 10 and the inspection result to a product information management system that is an external apparatus. Thereby, the product information for each product can be collectively managed by the product information management system. Note that the information transmitted from the defect inspection apparatus 4 to the product information management system may include error information regarding the separator wound body 10 in which a defect has been found. Examples of the error information include information on defective reading such as a defect of foreign matter, a defect of outer shape (rolling diameter), or a label that displays various information cannot be read by the reading sensor unit.

  Further, the defect inspection apparatus 4 may transmit the inspection result to the robot arm 3. As a result, the robot arm 3 can place the post-inspected separator wound body 10 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. 5A to 5D are schematic views for explaining the schematic configuration and the operation state of the robot arm 3. Specifically, FIG. 5A shows an operation of recovering the separator winding body 110 after inspection from the holding mechanism 43 of the defect inspection apparatus 4 while the robot arm 3 holds the separator winding body 111 before inspection. 5B shows an operation state in which the robot arm 3 rotates the hand unit 35, and FIG. 5C shows a state in which the robot arm 3 puts the separator winding body 111 before the inspection into the holding mechanism 43. FIG. 5D shows the operation state of the robot arm 3 after the separator winding body 111 before the inspection is set on the holding mechanism 43. FIG.

  As shown to (a)-(d) of FIG. 5, the robot arm 3 becomes a structure which can hold | maintain the several separator winding body 10 simultaneously. The hand portion 35 of the robot arm 3 includes a base portion 351 having a longitudinal direction, and a first grip portion 352 and a second grip 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 are provided at the distal end 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 interposed therebetween. Thereby, the robot arm 3 according to the present embodiment holds the two separator winding bodies 10 in parallel.

  The 1st holding part 352 contains a pair of finger parts 352a and 352b, and holds core 8 of separator winding body 10 by changing the interval of a pair of finger parts 352a and 352b. Similarly, the 2nd holding | grip part 353 contains a pair of finger part 353a * 353b, and hold | grips the core 8 of the separator winding body 10 by changing the space | interval of a pair of finger part 353a * 353b. In addition, a finger | toe part may be comprised from not only a pair but 3 or more.

  It is preferable that the surface of the sliding part is comprised with resin from the viewpoint of prevention of generation | occurrence | production of a metal foreign material in the 1st holding part 352 and the 2nd holding part 353. There are no restrictions on the type of resin, 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 Super engineering plastics such as polyethersulfone, polyphenylene sulfide, polyetheretherketone, polyimide, and polyetherimide are used. Among them, strong super engineering plastic is preferable, and polyether ether ketone is more preferable.

  Alternatively, the first grip portion 352 and the second grip portion 353 may be subjected to urethane lining processing. Thereby, the 1st holding | grip part 352 and the 2nd holding | grip part 353 which suppressed generation | occurrence | production of a slip and a metal foreign material without damaging the core 8 are realizable.

  The hardness of the first grip 352 and the second grip 353 is preferably A70 or more and A90 or less, and more preferably A70. When the hardness of the 1st holding part 352 and the 2nd holding part 353 is larger than A90, it becomes too hard and it becomes slippery, and when smaller than A70, it becomes easy to become a chucking defect.

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

  As shown in FIG. 5A, when the separator winding body 110 (the 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 separator winding body 110 held is held and collected from the first side face 10b side by the first gripping portion 352.

  Next, as shown in FIG. 5B, the robot arm 3 that has collected the separator winding body 110 once retracts and rotates the hand portion 35 by 180 degrees. Thereby, the separator winding body 111 (separator winding body 10 before inspection) held by the second gripping 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 8 a of the core 8 from the second side surface 10 c side of the separator winding body 111, and sets the separator winding body 111 in the holding mechanism 43.

  Next, as shown in (d) of FIG. 5, the robot arm 3 in which the separator winding body 111 is set in the holding mechanism 43 moves backward and moves to the outside of the defect inspection apparatus 4. After the robot arm 3 moves to the outside of the defect inspection apparatus 4, the door of the defect inspection apparatus 4 is closed, and the defect inspection for the separator wound body 111 is performed.

  Thus, in the present embodiment, the robot arm 3 holds the core 8 from the first side face 10b side of the separator winding body 10, and the holding mechanism 43 of the defect inspection apparatus 4 serves as the second side face 10c of the separator winding body 10. The core 8 is held from the side. Thus, since the robot arm 3 and the defect inspection apparatus 4 hold the core 8 from different side surfaces of the separator winding body 10, the separator winding body 10 is transferred between the robot arm 3 and the defect inspection apparatus 4. Can be performed efficiently.

  In addition, since the robot arm 3 and the holding mechanism 43 of the defect inspection apparatus 4 both hold the core 8 of the separator winding body 10, the robot arm 3 and the defect inspection apparatus 4 are attached to the separator 12 wound around the core 8. The separator winding body 10 can be conveyed without touching directly.

  Further, the robot arm 3 inserts the first gripping portion 352 and the second gripping portion 353 into the second through hole 8 b of the core 8 to hold the separator winding body 10, and the defect inspection apparatus 4 The separator winding body 10 is held by inserting the holding mechanism 43 into the 1 through hole 8a. Thus, since the robot arm 3 and the defect inspection apparatus 4 hold different portions of the core 8, the separator wound body 10 is more efficiently transferred between the robot arm 3 and the defect inspection apparatus 4. be able to.

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

  In addition, the first grip portion 352 and the second grip portion 353 of the robot arm 3 hold the first through hole 8 a of the core 8, and the holding member 21 of the stocker 2 and the holding mechanism 43 of the defect inspection apparatus 4 are the core 8. The structure which hold | maintains this 2nd through-hole 8b may be sufficient.

(Summary of transport system)
As described above, the transport system 1 according to the present embodiment holds the core 8 from the first side surface 10b side of the separator wound body 10 in which the separator 12 is wound around the outer peripheral surface 81a of the cylindrical core 8. The robot arm 3 takes out the separator winding body 10 from the stocker 2 on which the separator winding body 10 is placed, and holds the core 8 from the second side surface 10c side opposite to the first side surface 10b. And a defect inspection apparatus 4 that receives the separator wound body 10 and performs a predetermined process.

  Therefore, according to the present embodiment, the transport system 1 capable of efficiently transporting the separator wound body 10 and performing predetermined processing on the separator wound body 10 while suppressing adhesion of foreign matters. Can be realized.

  In addition, you may use a belt conveyor etc. instead of the stocker 2 as a mounting part which mounts the separator winding body 10. As shown in FIG.

(Modification 1)
6A to 6D are schematic diagrams for explaining a schematic configuration and an operation state of a modified example of the robot arm 3 shown in FIGS. 5A to 5D. Specifically, FIG. 6A shows an operation of collecting the separator winding body 110 after inspection from the holding mechanism 43 of the defect inspection apparatus 4 while the robot arm 3 holds the separator winding body 111 before inspection. 6B shows an operation state in which the robot arm 3 rotates the hand unit 35. FIG. 6C shows a state in which the robot arm 3 puts the separator winding body 111 before the inspection into the holding mechanism 43. FIG. 6D shows an operation state of the robot arm 3 after setting the separator winding body 111 before the inspection to the holding mechanism 43. FIG.

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

  In the robot arm 3 having 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 is moved to the second side surface by the holding mechanism 43. The separator winding body 10 held from the 10c side is held from the first side face 10b side by the first grip 352 and collected.

  Next, as shown in FIGS. 6B and 6C, the robot arm 3 that has collected the separator winding body 110 has the separator winding body 111 held by the second gripping portion 353 in the holding mechanism 43. The separator roll 111 is set in the holding mechanism 43 by moving forward to the facing position.

  Next, as shown in FIG. 6 (d), the robot arm 3 sets the separator winding body 111 on the holding mechanism 43 and then moves backward to move outside the defect inspection apparatus 4.

  Thus, 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 these are held in series, A combined configuration may also be used.

(Modification 2)
FIGS. 7A and 7B are schematic views for explaining a schematic configuration and an operation state of another modification of the robot arm 3. Specifically, FIG. 7A is a side view showing a schematic configuration of the distal end portion of the robot arm 3, and FIG. 7B is a perspective view of the separator arm by the robot arm 3 shown in FIG. 4 is a side view showing an operation state of gripping the rotating body 10. FIG. In FIG. 7B, the separator winding body 10 positioned in front of the robot arm 3 is indicated by a broken line.

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

  Specifically, the robot arm 3 decelerates the speed of the hand unit 35 before the stocker 2, and detects the outer peripheral surface 10 a of the separator wound body 10 by the wound body sensor unit 36. When the outer circumferential surface 10 a of the separator wound body 10 is detected by the wound body sensor unit 36, the robot arm 3 inserts a pair of finger portions 352 a and 352 b into the second through hole 8 b of the core 8. Then, the interval between the finger portions 353a and 353b is increased. Thereby, 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.

  As described above, 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 transports the separator winding body 10 from the stocker 2 to the defect inspection apparatus 4. It becomes possible. Therefore, the tact time required for the foreign matter inspection of the separator 12 can be shortened.

  Note that the winding diameter (outer diameter) of the separator wound body 10 may be measured by the wound body sensor unit. As described above, various information such as the winding diameter is displayed in advance on a label attached to the separator wound body 10, but the winding diameter of the separator wound body 10 may change over time due to tightening or the like. For this reason, the winding diameter of the separator wound body 10 may be measured by the wound body sensor unit, and the measured value may be transmitted to the defect inspection apparatus 4. Thereby, in the defect inspection apparatus 4, according to the measured winding diameter etc., the foreign material inspection of the separator winding body 10 can be performed more appropriately.

(Modification 3)
FIG. 8 is a side view showing a modification of the holding member 21 provided in the stocker 2 shown in FIG. As shown in FIG. 8, the stocker 2 holds two locations on the outer peripheral surface 10 a from the second side surface 10 c side of the separator winding body 10 instead of the holding member 21 that holds the first through hole 8 a of the core 8. The holding member 21a may be provided. Since the holding member 21a holds two places 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, it is possible to hold the separator winding body 10 while preventing the separator winding body 10 from rotating. In this case, it is preferable that the holding member 21 a is configured not to contact the separator 12 but to contact only the core 8 on the second side surface 10 c side of the separator winding body 10. Further, since the holding member 21a does not enter the first through hole 8a of the core 8 unlike the holding member 21 shown in FIG. 3, it is necessary to transfer the robot arm 3 and the separator wound body 10. The space in the stocker 2 can be reduced.

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

(Conveying system configuration)
(A)-(c) of FIG. 9 is a schematic diagram which shows schematic structure of the conveyance system 101 which concerns on this embodiment. Specifically, FIG. 9A is a perspective view of the transport system 101, FIG. 9B is a side view of the transport system 101, and FIG. 9C is a top view of the transport system 101. It is.

  As shown in FIGS. 9A to 9C, the transport system 101 is mainly different from the transport system 1 described above in that it includes a pre-inspection stocker 201 and a post-inspection stocker 202 instead of the stocker 2. Is different.

(Stocker before inspection)
The pre-inspection stocker 201 is a placement unit for placing the separator winding body 10 (110) before the inspection. 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 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 face 10c side of the separator winding body 10. Accordingly, the pre-inspection stocker 201 holds each separator winding body 10 with the outer peripheral surface 10 a 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 10 b 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 pre-inspection stocker 201 is carried into the defect inspection apparatus 4, and defect inspection is performed on the separator winding body 10.

(Post-inspection stocker)
The post-inspection stocker 202 is a placement unit for placing the separator winding body 10 (110) after the inspection. 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.

  The post-inspection stocker 202 receives the separator winding body 10 after the inspection from the robot arm 3. Specifically, the post-inspection stocker 202 inserts the holding member 21 into the first through-hole 8a of the core 8 from the second side surface 10c side of the post-inspection separator winding body 10 to inspect the separator winding after inspection. Receive the body 10. Thereby, the post-inspection stocker 202 holds each separator winding body 10 with the outer peripheral surface 10 a 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 transport system 101, the robot arm 3 holds the core 8 from the first side face 10b side of the separator winding body 10, and the holding members 21 of the pre-inspection stocker 201 and the post-inspection stocker 202 are separator separators. The core 8 is held from the second side surface 10c. 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 is efficiently transferred. It can be carried out.

  Further, the robot arm 3 and the holding members 21 of the pre-inspection stocker 201 and the post-inspection stocker 202 both hold the core 8 of the separator winding body 10, and thus directly touch the separator 12 wound around the core 8. The separator wound body 10 can be transported without any problems.

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

  In addition, instead of the pre-inspection stocker 201 and the post-inspection stocker 202, a belt conveyor or the like may be used as a placement unit on which the separator winding body 10 is placed. Moreover, you may use it combining a stocker and a belt conveyor. For example, among the pre-inspection stocker 201 and the post-inspection stocker 202, the post-inspection stocker 202 may be replaced with a belt conveyor. Thereby, the separator winding 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. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

(Conveying system configuration)
FIGS. 10A and 10B are schematic views showing a schematic configuration of the transport system 102 according to the present embodiment. Specifically, FIG. 10A is a perspective view of the transport system 102, and FIG. 10B is a top view of the transport system 102.

  As shown in FIGS. 10A and 10B, the transport system 102 includes the pre-inspection stocker 203, the good product stocker 204, and the defective product stocker 205 in place of the stocker 2. Mainly different from system 1.

(Stocker before inspection)
The pre-inspection stocker 203 is a placement unit for placing the separator winding body 10 (111) before the inspection. The pre-inspection stocker 203 includes a plurality of holding members 121 for holding the separator winding body 10. These holding members 121 protrude toward the robot arm 3 side, and the pre-inspection stocker 203 places the holding member 121 in the first through hole 8a of the core 8 from the second side surface 10c side of the separator winding body 10. Insert and hold the separator wound body 10. Accordingly, each separator winding body 10 is held with the first side face 10b side of the separator winding body 10 facing the robot arm 3 side without directly touching the pre-inspection stocker 203 and the separator 12.

  According to the pre-inspection stocker 203, since the 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 10 b 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 pre-inspection stocker 203 is carried into the defect inspection apparatus 4 and the defect inspection of the separator winding body 10 is performed.

(Good stocker)
The non-defective stocker 204 is a placement unit for placing the separator wound body 10 (110) after 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 from the robot arm 3 the separator winding body 10 after the inspection in which no defect is found. Specifically, the non-defective stocker 204 inserts the holding member 121 into the first through hole 8a of the core 8 from the second side surface 10c side of the separator wound body 10 after inspection where no defect is found, Receive the wound body 10. Thereby, the good article stocker 204 holds each separator winding body 10 with the first side face 10b side of the separator winding body 10 facing the robot arm 3 side.

(Defect stocker)
The defective article stocker 205 is a placement unit for placing the separator wound body 10 (110) after inspection in which a defect is found. The specific configuration of the defective product stocker 205 is substantially the same as the configuration of the pre-inspection stocker 203 and the good product stocker 204.

  The defective article stocker 205 receives from the robot arm 3 the separator separator 10 after inspection in which a defect is found. Specifically, the defective product stocker 205 inserts the holding member 121 into the first through hole 8a of the core 8 from the second side surface 10c side of the separator wound body 10 after the inspection in which the defect is found, Receive the wound body 10. Thereby, the defective article stocker 205 holds each separator winding body 10 with the first side face 10b side of the separator winding body 10 facing the robot arm 3 side.

(Summary of transport system)
As described above, in this embodiment, the robot arm 3 holds the core 8 from the first side face 10b side of the separator winding body 10, and the holding members 121 of the pre-inspection stocker 203, the non-inspection stocker 204, and the defective product stocker 205 are 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 good product stocker 204, and the defective product stocker 205 hold the separator winding body 10 from different side surfaces of the separator winding body 10. Can be performed efficiently.

  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 all hold the core 8 of the separator wound body 10, and thus the separator wound around the core 8 is used. The separator wound body 10 can be transported without directly touching 12.

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

  Note that a belt conveyor or the like may be used instead of the pre-inspection stocker 203, the good product stocker 204, and the defective product stocker 205 as a placement unit on which the separator winding body 10 is placed. Moreover, you may use it combining a stocker and a belt conveyor. For example, among the pre-inspection stocker 203, the good product stocker 204, and the defective product stocker 205, the good product stocker 204 may be replaced with a belt conveyor. This makes it possible to immediately transport the separator wound body 10 in which no defect is found to the packaging process, and to shorten the tact time required for manufacturing the separator 12.

(Modification 1)
The pre-inspection stocker 203, the good product stocker 204, and the defective product stocker 205 may include a rotation preventing member for preventing the separator wound body 10 held by the holding member 121 from rotating. The pre-inspection stocker 203 will be described below as an example, but the same applies to the non-defective product stocker 204 and the defective product stocker 205.

  11A to 11C are schematic views showing the holding mechanism 120 provided in the pre-inspection stocker 203. FIG. Specifically, FIG. 11A is a top view of the holding mechanism 120, FIG. 11B is a front view of the holding mechanism 120, and FIG. 11C is a perspective view of the holding mechanism 120. is there.

  As shown in FIGS. 11A to 11C, the holding mechanism 120 includes a holding member 121 inserted into the first through hole 8 a of the core 8 of the separator winding body 10, and the second through hole 8 b of the core 8. Two angle members 22 to be inserted into the disk and a disk base 23 having a substantially disk shape. The holding member 121 and the two angle members 22 protrude from the disk base 23, respectively.

  The holding member 121 protrudes from substantially the 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. To do.

  The angle member 22 is a rotation preventing member for preventing the separator wound body 10 held by the holding member 121 from rotating. Each angle member 22 protrudes 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 8 b of the core 8 from the second side surface 10 c side of the separator winding body 10. Thereby, rotation of the separator winding body 10 hold | maintained by the holding member 121 can be prevented, and the direction (angle) of the separator winding body 10 can be kept constant. The angle member 22 only needs to be able to prevent the separator wound body 10 held by the holding member 121 from rotating, and the shape and number thereof can be changed as appropriate.

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

  12A and 12B are front views showing the operating state of the lifter 214 for fixing the pre-inspection stocker 203 shown in FIG. Specifically, FIG. 12A shows a state where the lifter 214 is in the lowered position, and FIG. 12B shows a state where the lifter 214 is in the raised position.

  As shown in FIGS. 12A and 12B, 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 lifter 214 installed below is moved from the lowered position to the raised position. Thereby, the wheel 215 of the pre-inspection stocker 203 can be fixed in a state where it is pushed up from the floor F by about 20 mm.

  In this manner, 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 pre-inspection stocker 203 while being lifted by the lifter 214, it is possible to suppress the influence of the state of the floor F and the manufacturing accuracy of the stocker due to individual differences, etc., and to absorb horizontal and vertical misalignment. it can.

[Embodiment 4]
Another embodiment of the present invention will be described below with reference to FIGS. 13 and 14. For convenience of explanation, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

(Conveying system configuration)
FIG. 13 is a top view illustrating a schematic configuration of the transport system 103 according to the present embodiment, and FIG. 14 is a schematic diagram illustrating the transport system 103 illustrated in FIG. 13 at different angles. As shown in FIG. 13 and FIG. 14, the transport system 103 is different from the transport system 1 described above in that a belt conveyor 206 is provided instead of the stocker 2 as a placement portion for placing the separator winding body 10. Mainly different.

(belt conveyor)
The belt conveyor 206 is a placement unit for placing a plurality of separator winding bodies 10. On the belt conveyor 206, the separator wound body 10 (111) before inspection and the separator wound body 10 (110) after inspection are placed. In the present embodiment, a belt conveyor is used as the placement unit, 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 conveys 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 placed on the outer peripheral surface 81a of the core 8 so that the side surface of the core 8 protrudes closer to the holding surface 206a than 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. Thereby, the belt conveyor 206 can convey the core 8 of the separator winding body 10 by the holding surface 206 a without directly touching the separator 12.

  In the transport system 103, the belt conveyor 206 is intermittently driven to move the separator wound body 10 by a predetermined distance. Then, the robot arm 3 holds the core 8 from the first side face 10 b side of the separator wound body 10 before inspection carried by the belt conveyor 206, and carries the separator wound body 10 into the defect inspection apparatus 4. Further, the robot arm 3 holds the core 8 from the first side surface 10b side of the separator winding body 10 after the inspection, and places the separator winding body 10 on the belt conveyor 206 with the second side surface 10c set to the holding surface 206a side. Place. As described above, in the transport system 103, the operation of moving the separator wound body 10 by a predetermined distance by the belt conveyor 206 and performing the foreign object inspection is repeatedly performed.

  The holding surface 206a of the belt conveyor 206 may be provided with a protrusion that supports the separator wound body 10 away from the holding surface 206a. Thereby, it can prevent more reliably that the separator 12 contacts the holding surface 206a. Further, it is possible to prevent the displacement of the separator wound body 10 on the belt conveyor 206 (holding surface 206a) due to the vibration accompanying the operation of the belt conveyor 206.

(Summary of transport system)
As described above, in the transport 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 wound body 10, and the belt conveyor 206 is the second side surface of the separator wound body 10. The core 8 is held from the 10c side.

  As described above, 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 wound body 10 from different side surfaces of the separator wound body 10. Therefore, the separator wound body 10 can be efficiently transferred between the robot arm 3 and the belt conveyor 206.

  Moreover, by using the belt conveyor 206 as a mounting part, the conveyance of the separator winding body 10 before and after the inspection can be automated, and the tact time required for manufacturing the separator 12 can be shortened.

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

(Conveying system configuration)
FIG. 15 is a top view illustrating a schematic configuration of the transport system 104 according to the present embodiment. As shown in FIG. 15, the transport system 104 includes the pre-inspection belt conveyor 207 and the post-inspection belt conveyor 208 in place of the stocker 2 as the placement unit on which the separator winding body 10 is placed. Mainly different from the transport system 1 described above.

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

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

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

  The post-inspection belt conveyor 208 conveys the separator winding body 10 in a state where the core 8 is held by the holding surface 208a from the second side face 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, and places the separator winding body 10 on the belt conveyor 208 after inspection with the second side surface 10c facing the holding surface 208a. Place.

(Summary of transport system)
As described above, in the transport system 104 according to this 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 10 c side of the wound body 10.

  In this way, the robot arm 3, the pre-inspection belt conveyor 207 and the post-inspection belt conveyor 208 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 transferred between the robot arm 3 and the pre-inspection belt conveyor 207 and the post-inspection belt conveyor 208 without directly touching the separator 12 that has been provided.

  In addition, by using the pre-inspection belt conveyor 207 and the post-inspection belt conveyor 208 as the placement section, for example, the post-inspection separator winding body 10 can be immediately transported to the next process, which is necessary for manufacturing the separator 12. Tact time can be shortened. A stocker and a 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, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

(Conveying system configuration)
FIG. 16 is a top view illustrating a schematic configuration of the transport system 105 according to the present embodiment. As shown in FIG. 16, the transport system 105 includes a pre-inspection belt conveyor 209, a non-inspection belt conveyor 210, and a defective article belt conveyor 211 as a placement unit on which the separator winding body 10 is placed, instead of the stocker 2. In the point which differs, it is mainly different from the conveyance system 1 mentioned above.

(Belt conveyor before inspection)
The pre-inspection belt conveyor 209 is a placement unit for placing the separator winding body 10 (111) before the inspection. 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 face 10c side of the separator winding body 10. The robot arm 3 holds the core 8 from the first side surface 10 b side of the separator winding body 10 before inspection conveyed by the belt conveyor 209 before inspection, and carries the separator winding body 10 into the defect inspection apparatus 4.

(Good belt conveyor)
The non-defective belt conveyor 210 is a placement unit for placing the separator wound 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 good belt conveyor 210 conveys the separator winding body 10 in a state where the core 8 is held by the holding surface 210a from the second side face 10c side of the separator winding body 10. The robot arm 3 holds the core 8 from the first side face 10b side of the inspected separator roll 10 in which no defect has been found, and the second side face 10c becomes the holding face 210a side. The wound body 10 is placed.

(Defect belt conveyor)
The defective belt conveyor 211 is a placement unit for placing the separator wound body 10 (110) after inspection in which a 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 conveys the separator winding body 10 in a state where the core 8 is held by the holding surface 211a from the second side face 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 separator 10 after inspection in which no defect has been found, and sets the second side surface 10c to the holding surface 211a side to the defective belt conveyor 211. The separator winding body 10 is mounted.

  As described above, 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. Thus, the separator wound body 10 can be efficiently delivered between the robot arm 3 and the pre-inspection belt conveyor 209, the non-inspection belt conveyor 210, and the defective belt conveyor 211.

(Summary of transport system)
As described above, in the transport 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 wound body 10, and the pre-inspection belt conveyor 209, the non-inspection belt conveyor 210, and the defective product. The belt conveyor 211 holds the core 8 from the second side surface 10 c side of the separator winding body 10.

  Thus, 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. The separator winding body 10 is efficiently transferred between the robot arm 3 and the pre-inspection belt conveyor 209, the non-inspection belt conveyor 210, and the defective belt conveyor 211 without directly touching the separator 12 wound around the core 8. Can be done.

  In addition, by using the pre-inspection belt conveyor 209, the non-defective belt conveyor 210, and the defective belt conveyor 211 as the loading section, for example, the separator wound body 10 in which no defect is found can be immediately transported to the packing process. Thus, the tact time required for manufacturing the separator 12 can be shortened. A stocker and a 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, members having the same functions as those described in the embodiment are given the same reference numerals, and descriptions thereof are omitted.

(Conveying system configuration)
FIG. 17 is a top view illustrating a schematic configuration of the transport system 106 according to the present embodiment. As shown in FIG. 17, the transport system 106 includes a casing 47, and is mainly different from the above-described transport system 1 in that various devices are arranged inside the casing 47.

(Casing)
The housing 47 is formed of a wall surface that is difficult for electromagnetic waves containing lead or the like to pass therethrough so that the electromagnetic waves to be handled do not leak to the outside. The casing 47 can carry in and out the separator wound body 10 by opening and closing a door (not shown).

  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 in the housing 47. Machine) is arranged. Since the transport system 106 includes two sets of foreign matter inspection units, the foreign matter inspection can be performed on the two separator winding bodies 10 simultaneously in parallel. Each foreign substance inspection unit is controlled by a control unit (not shown).

  Also in this embodiment, the robot arm 3 holds the core 8 from the side of the first side face 10b of the separator winding body 10, and the pre-inspection stocker 201, post-inspection stocker 202, and the holding mechanism 43 are included in the separator winding body 10. The core 8 is held from the second side face 10c side. The separator winding body 10 can be efficiently transferred 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. it 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. Accordingly, since the foreign matter inspection can be performed on the plurality of separator winding bodies 10 simultaneously in 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 number of foreign substance inspection units arranged in the housing 47 may be one, or two or more. In the transport system 106, the number of the pre-inspection stocker 201, the post-inspection stocker 202, and the robot arm 3 disposed in the housing 47 may be two or more.

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

1 Transport system 2 Stocker (mounting section)
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 cylindrical member)
82a outer peripheral surface 82b inner peripheral surface 10 separator wound 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) Part)
202 Stocker after inspection (mounting part)
203 Stocker before inspection (mounting part)
204 Non-defective stocker (mounting section)
205 Defective product stocker (mounting part)
206 Belt conveyor (mounting section)
207 Belt conveyor before inspection (mounting part)
208 Post-inspection belt conveyor (mounting section)
209 Belt conveyor before inspection (mounting part)
210 Good belt conveyor (mounting part)
211 Defective product belt conveyor (mounting section)

Claims (6)

The separator used for the battery is held from the first side surface side of the separator winding body in which the separator wound around the outer peripheral surface of the cylindrical core, and from the mounting portion on which the separator winding body is mounted A robot arm for taking out the separator wound body;
A processing machine that holds the core from the second side surface of the separator winding body opposite to the first side surface, receives the separator winding body from the robot arm, and performs a predetermined process;
Conveying system comprising. The core includes an outer cylindrical member having the outer peripheral surface, and an inner cylindrical member provided inside the outer cylindrical member,
The robot arm holds between the outer cylindrical member and the inner cylindrical member,
The transport system according to claim 1, wherein the processing machine holds an inner peripheral surface of the inner cylindrical member.   The transport system according to claim 1, wherein the placement unit is a stocker that holds the core from the second side surface side of the separator winding body.   The transfer system according to any one of claims 1 to 3, wherein the robot arm holds a plurality of the separator winding bodies.   The transport system according to claim 1, wherein the processing machine is an X-ray inspection machine that inspects the separator. A mounting for mounting the separator winding body by holding the core by a robot arm from a first side surface of a separator winding body in which a separator used for a battery is wound around an outer peripheral surface of a cylindrical core. Removing the separator winding body from the section;
Holding the core from the second side surface of the separator winding body opposite to the first side surface, receiving the separator winding body from the robot arm, and performing a predetermined process;
Conveying method including.

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