CN113731737A - Gluing method, controller, gluing system and storage medium - Google Patents
Gluing method, controller, gluing system and storage medium Download PDFInfo
- Publication number
- CN113731737A CN113731737A CN202111041170.0A CN202111041170A CN113731737A CN 113731737 A CN113731737 A CN 113731737A CN 202111041170 A CN202111041170 A CN 202111041170A CN 113731737 A CN113731737 A CN 113731737A
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- China
- Prior art keywords
- gluing
- bipolar plate
- head
- gluing head
- track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0208—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles
- B05C5/0212—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles
- B05C5/0216—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work for applying liquid or other fluent material to separate articles only at particular parts of the articles by relative movement of article and outlet according to a predetermined path
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C13/00—Means for manipulating or holding work, e.g. for separate articles
- B05C13/02—Means for manipulating or holding work, e.g. for separate articles for particular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C—APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05C5/00—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work
- B05C5/02—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work
- B05C5/0225—Apparatus in which liquid or other fluent material is projected, poured or allowed to flow on to the surface of the work the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g. from an outlet device in contact or almost in contact, with the work characterised by flow controlling means, e.g. valves, located proximate the outlet
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Coating Apparatus (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention provides a gluing method, a controller, a gluing system and a storage medium, which are used for acquiring an image of a bipolar plate, identifying a pre-marked feature point on the bipolar plate and acquiring a position coordinate of the feature point; controlling the gluing head to move to be opposite to the position of the characteristic point according to the current position coordinate of the gluing head and the position coordinate of the characteristic point; controlling the gluing head to move to be opposite to the initial position of the gluing track according to the distance between the initial position of the gluing track and the position of the characteristic point; and in the gluing process, the distance between the gluing head and the bipolar plate is obtained at preset intervals, and the gluing head is controlled to move vertically, so that the distance between the gluing head and the bipolar plate is always kept consistent. The technical scheme provided by the invention has the beneficial effects that: the automatic gluing track correction function and the gluing height compensation function are realized, the gluing machine is suitable for gluing products with the bipolar plate with not very high flatness, the product compatibility can be greatly improved, the gluing efficiency and the product qualification rate of the products are improved, and a solid foundation is laid for the mass production of the products.
Description
Technical Field
The invention relates to the technical field of automatic gluing processes of bipolar plates, in particular to a gluing method, a controller, a gluing system and a storage medium.
Background
As an important direction for the development of domestic new energy automobiles, the hydrogen fuel cell has increasingly increased dosage and variety with the gradual popularization of hydrogen energy power. In a hydrogen energy power system, a fuel cell is a relatively central component, and a bipolar plate which is an important component of the fuel cell relates to an important process flow, namely a glue coating process of the bipolar plate, because each cell needs a plurality of sealed chambers during the internal reaction of the fuel cell, a circle of glue with the width of about 1mm needs to be coated under a sealing rubber strip before the bipolar plate is attached to the sealing rubber strip. This presents a great difficulty in gluing, since the bipolar plate is a very thin metal plate, which has some warpage.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a glue spreading method, a controller, a glue spreading system and a storage medium.
The embodiment of the invention provides a gluing method, which comprises the following steps:
s1, acquiring an image of the bipolar plate, identifying a pre-marked feature point on the bipolar plate, and acquiring a feature point position coordinate;
s2, acquiring the current position coordinate of the gluing head, and controlling the gluing head to move on the horizontal plane according to the current position coordinate of the gluing head and the position coordinate of the characteristic point, so that the gluing head moves from the current position to be opposite to the position of the characteristic point;
s3, obtaining a gluing track on the bipolar plate, and controlling the gluing head to move on the horizontal plane according to the distance between the initial position of the gluing track and the position of the characteristic point, so that the gluing head moves from the position opposite to the position of the characteristic point to the position opposite to the initial position of the gluing track;
and S4, controlling the gluing head to start gluing from the initial position of the gluing track and along the gluing track, acquiring the distance between the gluing head and the bipolar plate at preset intervals in the gluing process, and controlling the gluing head to move vertically so that the distance between the gluing head and the bipolar plate is always kept consistent.
Furthermore, the gluing track comprises a straight line section and a corner section, and the moving speeds of the gluing head in the straight line section and the corner section are controlled to be the same.
Further, controlling the gluing head to move on the horizontal plane is specifically controlling the gluing head to move on the X axis and the Y axis.
Further, step S1 is specifically: and detecting whether the gluing head is replaced, if so, acquiring an image of the bipolar plate and identifying the pre-marked characteristic points on the bipolar plate.
Furthermore, a glue valve is arranged on the glue spreading head, and the glue discharging speed is adjusted by controlling the opening of the glue valve.
An embodiment of the present invention further provides a controller, which includes a memory, a processor, and a glue application method program stored in the memory and executable on the processor, and when executed by the processor, the glue application method program implements the steps of the glue application method as described above.
The embodiment of the present invention further provides a glue spreading system, including:
the gluing mechanism comprises a gluing head, wherein the gluing head has movable strokes on a horizontal plane and a vertical plane and is used for being opposite to the bipolar plate;
the servo module is used for realizing the position movement of the gluing head on the horizontal plane and the vertical direction;
the height sensor is fixedly connected with the gluing head and used for measuring the distance between the gluing head and the bipolar plate to obtain the distance between the gluing head and the bipolar plate;
the image acquisition module is fixed on the gluing mechanism and used for acquiring an image of the bipolar plate;
the controller is the controller and is in communication connection with the gluing mechanism, the servo module, the height sensor and the image acquisition module respectively.
Further, the image acquisition module is an industrial camera.
The bipolar plate gluing device further comprises a base, wherein the base is used for supporting the bipolar plate, and the gluing mechanism and the servo module are installed on the base.
Embodiments of the present invention also provide a storage medium having a glue application method program stored thereon, which when executed, implements the steps of the glue application method as described above.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: the method comprises the steps of identifying characteristic points on the bipolar plate by obtaining an image of the bipolar plate, obtaining position coordinates of the characteristic points, and controlling the gluing head to move on a horizontal plane to be opposite to the position of the characteristic points according to the current position coordinates of the gluing head and the position coordinates of the characteristic points; according to the distance between the initial position of the gluing track on the bipolar plate and the position of the characteristic point, the gluing head can be controlled to move on the horizontal plane to be opposite to the initial position of the gluing track, and the automatic correction function of the gluing track is realized. The distance between the gluing head and the bipolar plate is detected in real time, the gluing head is controlled to move vertically, the distance between the gluing head and the bipolar plate is kept consistent all the time, the gluing height compensation function is realized, and the gluing device is suitable for gluing products with the bipolar plate not very high in flatness. The product compatibility can be greatly improved, the product gluing efficiency and the product qualification rate are improved, and a solid foundation is laid for the mass production of products.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a gluing method provided by the present invention;
fig. 2 is a schematic flow chart of an embodiment of the glue spreading system provided by the present invention.
In the figure: the automatic gluing device comprises a gluing head 1, a servo module 2, an X-axis module 21, a Y-axis module 22, a Z-axis module 23, a first slide rail 24, a second slide rail 25, a third slide rail 26, a height sensor 3, an image acquisition module 4 and a base 5.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present invention provides a glue spreading method, including the following steps:
s1 obtains an image of the bipolar plate, identifies the pre-marked feature points on the bipolar plate, and obtains the coordinates of the feature points, where the feature points are through holes formed on the bipolar plate in this embodiment, and other marks may also be used, which is not limited herein.
S2, acquiring the current position coordinate of the gluing head 1, and controlling the gluing head 1 to move on the horizontal plane according to the current position coordinate of the gluing head 1 and the position coordinate (center coordinate of the perforation) of the characteristic point, so that the gluing head 1 moves from the current position to be opposite to the position of the characteristic point;
s3, obtaining a gluing track on the bipolar plate, controlling the gluing head 1 to move on a horizontal plane according to the distance between the initial position of the gluing track and the position of the characteristic point by a method of guiding the gluing track of the bipolar plate CAD, and enabling the gluing head 1 to move from the position opposite to the position of the characteristic point to the position opposite to the initial position of the gluing track;
in this embodiment, the controlling of the movement of the gluing head 1 on the horizontal plane is specifically controlling of the gluing head 1 on the X axis and the Y axis, so that the movement track of the gluing head 1 is conveniently planned, and the precise control of the movement of the gluing head 1 is realized.
S4, controlling the gluing head 1 to start gluing from the initial position of the gluing track and along the gluing track, acquiring the distance between the gluing head 1 and the bipolar plate at preset intervals in the gluing process, and controlling the gluing head 1 to move vertically to keep the distance between the gluing head 1 and the bipolar plate consistent all the time.
Specifically, the distance between the height sensor 3 and the bipolar plate is detected, the height sensor 3 is fixedly connected with the gluing head 1, and the distance between the height sensor 3 and the gluing head 1 is fixed, so that the distance between the gluing head 1 and the bipolar plate can be obtained.
Before gluing, the distance between the gluing head 1 and the initial position of the gluing track cannot be determined, because the characteristic point is a set reference point on the bipolar plate, the characteristic point on the bipolar plate is identified by acquiring the image of the bipolar plate, the position coordinate of the characteristic point can be obtained, and the gluing head 1 can be controlled to move on the horizontal plane to be opposite to the position of the characteristic point according to the current position coordinate of the gluing head 1 and the position coordinate of the characteristic point; then, the distance between the initial position of the gluing track on the bipolar plate and the position of the characteristic point can be obtained by a method of leading in a CAD track, the gluing head 1 can be controlled to move on the horizontal plane to be opposite to the initial position of the gluing track according to the distance, the automatic correction function of the gluing track is realized, the automatic gluing is adapted to the surface of the bipolar plate under special working conditions, the image mosaic of a product can be automatically carried out, and the track writing is carried out on the basis of the mosaic. The distance between the gluing head 1 and the bipolar plate is detected in real time, the gluing head 1 is controlled to move vertically, the distance between the gluing head 1 and the bipolar plate is kept consistent all the time, the gluing height compensation function is realized, and the gluing machine is suitable for gluing products with the bipolar plate not very high in flatness. The product compatibility can be greatly improved, the gluing process is suitable for products with different sizes and specifications, the gluing efficiency and the product percent of pass are improved, and a solid foundation is laid for the mass production of products.
The glue spreading head 1 is provided with a glue valve, and the glue outlet speed is adjusted by controlling the opening of the glue valve so as to adapt to the glue spreading requirements of different products. The gluing track comprises a straight line section and a corner section, the moving speeds of the gluing head 1 in the straight line section and the corner section are controlled to be the same, and the corner difference compensation function can be realized.
Further, the gluing track is divided into a plurality of sections of continuous gluing travel paths, the initial position and the end position of the gluing travel path are obtained, after the previous section of gluing travel path is finished, the gluing head 1 is controlled to move from the end position of the previous section of gluing travel path to the initial position of the next section of gluing travel path according to the distance between the end position of the previous section of gluing travel path and the initial position of the next section of gluing travel path, gluing is continued, repeated gluing can be avoided, and gluing uniformity is guaranteed. After the gluing is finished, the gluing head 1 is controlled to return to the initial position.
In one embodiment, step S1 specifically includes: and detecting whether the gluing head 1 is replaced, acquiring an image of the bipolar plate if the gluing head 1 is replaced, and identifying the pre-marked characteristic points on the bipolar plate, so that the equipment has the function of automatically aligning after the needle head is replaced.
The embodiment of the present invention further provides a controller, which includes a memory, a processor, and a glue application method program stored in the memory and operable on the processor, and when executed by the processor, the glue application method program implements the steps of the glue application method described above.
Referring to fig. 2, an embodiment of the present invention further provides a glue coating system, which includes a base 5, a glue coating mechanism, a servo module 2, a height sensor 3, an image acquisition module, and a controller, where the controller is the above-mentioned controller, and is respectively in communication connection with the glue coating mechanism, the servo module 2, the height sensor 3, and the image acquisition module 4.
The base 5 is used for supporting the bipolar plate, and the gluing mechanism and the servo module 2 are arranged on the base 5. The gluing mechanism comprises a gluing head 1, the gluing head 1 has a movable stroke on the horizontal plane and the vertical direction and is used for being opposite to the bipolar plate, a glue valve is arranged on the gluing head 1, and the glue outlet speed can be adjusted by controlling the opening of the glue valve.
In addition, an embodiment of the present invention further provides a storage medium, on which a glue application method program is stored, and when the glue application method program is executed, the steps of the glue application method described above are implemented.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A gluing method is characterized by comprising the following steps:
s1, acquiring an image of the bipolar plate, identifying a pre-marked feature point on the bipolar plate, and acquiring a feature point position coordinate;
s2, acquiring the current position coordinate of the gluing head, and controlling the gluing head to move on the horizontal plane according to the current position coordinate of the gluing head and the position coordinate of the characteristic point, so that the gluing head moves from the current position to be opposite to the position of the characteristic point;
s3, obtaining a gluing track on the bipolar plate, and controlling the gluing head to move on the horizontal plane according to the distance between the initial position of the gluing track and the position of the characteristic point, so that the gluing head moves from the position opposite to the position of the characteristic point to the position opposite to the initial position of the gluing track;
and S4, controlling the gluing head to start gluing from the initial position of the gluing track and along the gluing track, acquiring the distance between the gluing head and the bipolar plate at preset intervals in the gluing process, and controlling the gluing head to move vertically so that the distance between the gluing head and the bipolar plate is always kept consistent.
2. A glue spreading method according to claim 1, wherein the glue spreading track comprises a straight section and a corner section, and the moving speed of the glue spreading head in the straight section and the corner section is controlled to be the same.
3. A method of gluing according to claim 1, wherein controlling the gluing head to move in a horizontal plane is in particular controlling the gluing head to move in an X-axis and a Y-axis.
4. The gluing method according to claim 1, wherein step S1 specifically comprises: and detecting whether the gluing head is replaced, if so, acquiring an image of the bipolar plate and identifying the pre-marked characteristic points on the bipolar plate.
5. A gluing method according to claim 1, wherein the gluing head is provided with a glue valve, and the glue outlet speed is adjusted by controlling the opening of the glue valve.
6. A controller comprising a memory, a processor and a glue application method program stored on the memory and executable on the processor, the glue application method program when executed by the processor implementing the steps of the glue application method as claimed in any one of claims 1 to 5.
7. A glue application system, comprising:
the gluing mechanism comprises a gluing head, wherein the gluing head has movable strokes on a horizontal plane and a vertical plane and is used for being opposite to the bipolar plate;
the servo module is used for realizing the position movement of the gluing head on the horizontal plane and the vertical direction;
the height sensor is fixedly connected with the gluing head and used for measuring the distance between the gluing head and the bipolar plate to obtain the distance between the gluing head and the bipolar plate;
the image acquisition module is fixed on the gluing mechanism and used for acquiring an image of the bipolar plate;
the controller according to claim 6, wherein the controller is in communication connection with the gluing mechanism, the servo module, the height sensor and the image acquisition module respectively.
8. A gluing system according to claim 7, wherein the image acquisition module is an industrial camera.
9. The gluing system of claim 7, further comprising a base for supporting the bipolar plate, wherein the gluing mechanism and the servo module are mounted on the base.
10. A storage medium having stored thereon a glue application method program which, when executed, carries out the steps of a glue application method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111041170.0A CN113731737A (en) | 2021-09-07 | 2021-09-07 | Gluing method, controller, gluing system and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111041170.0A CN113731737A (en) | 2021-09-07 | 2021-09-07 | Gluing method, controller, gluing system and storage medium |
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| Publication Number | Publication Date |
|---|---|
| CN113731737A true CN113731737A (en) | 2021-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111041170.0A Pending CN113731737A (en) | 2021-09-07 | 2021-09-07 | Gluing method, controller, gluing system and storage medium |
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| Country | Link |
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| CN (1) | CN113731737A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114199883A (en) * | 2021-12-06 | 2022-03-18 | 广州市斯睿特智能科技有限公司 | 3D gluing detection method and device and application thereof |
| CN116618240A (en) * | 2023-07-24 | 2023-08-22 | 北京新研创能科技有限公司 | Dispensing system and method for bipolar plate of fuel cell |
| CN117744179A (en) * | 2023-11-30 | 2024-03-22 | 中国航空综合技术研究所 | Gluing route planning method for joint surface of aero-engine casing |
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| GB9017782D0 (en) * | 1990-08-14 | 1990-09-26 | British United Shoe Machinery | Machine for applying adhesive progressively along marginal portions of shoe bottom |
| CN101428265A (en) * | 2008-08-08 | 2009-05-13 | 塔工程有限公司 | Method for repairing substrate |
| CN107876333A (en) * | 2017-10-30 | 2018-04-06 | 广州汽车集团乘用车有限公司 | A kind of glue spreader control method and device |
| CN111530697A (en) * | 2020-04-01 | 2020-08-14 | 国机智能科技有限公司 | Accurate gluing system and method for three-dimensional curved surface workpiece |
| EP3862099A1 (en) * | 2020-02-07 | 2021-08-11 | Fives Filling & Sealing | Method and device for depositing a seam of viscous fluid at high speed |
| CN113284191A (en) * | 2021-06-10 | 2021-08-20 | 广东奥普特科技股份有限公司 | Dispensing method, system, equipment and storage medium based on visual guidance |
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2021
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB9017782D0 (en) * | 1990-08-14 | 1990-09-26 | British United Shoe Machinery | Machine for applying adhesive progressively along marginal portions of shoe bottom |
| CN101428265A (en) * | 2008-08-08 | 2009-05-13 | 塔工程有限公司 | Method for repairing substrate |
| CN107876333A (en) * | 2017-10-30 | 2018-04-06 | 广州汽车集团乘用车有限公司 | A kind of glue spreader control method and device |
| EP3862099A1 (en) * | 2020-02-07 | 2021-08-11 | Fives Filling & Sealing | Method and device for depositing a seam of viscous fluid at high speed |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114199883A (en) * | 2021-12-06 | 2022-03-18 | 广州市斯睿特智能科技有限公司 | 3D gluing detection method and device and application thereof |
| CN116618240A (en) * | 2023-07-24 | 2023-08-22 | 北京新研创能科技有限公司 | Dispensing system and method for bipolar plate of fuel cell |
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| CN117744179A (en) * | 2023-11-30 | 2024-03-22 | 中国航空综合技术研究所 | Gluing route planning method for joint surface of aero-engine casing |
| CN117744179B (en) * | 2023-11-30 | 2024-06-07 | 中国航空综合技术研究所 | Gluing route planning method for joint surface of aero-engine casing |
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Application publication date: 20211203 |