CN113745621B

CN113745621B - Fuel cell stack assembling equipment

Info

Publication number: CN113745621B
Application number: CN202111048510.2A
Authority: CN
Inventors: 高文; 杨阳; 周凤满; 万书径
Original assignee: Hangzhou Baiyin New Energy Technology Co ltd
Current assignee: Hangzhou Baiyin New Energy Technology Co ltd
Priority date: 2021-09-08
Filing date: 2021-09-08
Publication date: 2022-11-22
Anticipated expiration: 2041-09-08
Also published as: CN113745621A

Abstract

The invention discloses a fuel cell stack assembly device, which adopts the technical scheme that: the utility model provides a fuel cell pile equipment, includes the PLC controller, piles up robot, vision positioning mechanism and sweeps a yard mechanism, its characterized in that: the stacking robot is matched with the lifting material taking mechanism for taking materials, the visual positioning mechanism and the code scanning mechanism for taking pictures and scanning codes, and the lifting stacking mechanism for feeding materials is matched with the lifting stacking mechanism, the lifting stacking mechanism is moved to the electric pile press through the moving mechanism for positioning, so that materials are pressed through the electric pile press. The equipment can realize the synchronous implementation of the automatic stacking and pressurizing fastening processes of the galvanic pile, greatly save the assembly time, reduce the integral stacking beat of the galvanic pile, improve the stacking efficiency, ensure the stacking precision of the galvanic pile, be safe and reliable and promote the working efficiency.

Description

Fuel cell stack assembling equipment

Technical Field

The invention relates to the technical field of fuel assembly, in particular to fuel cell stack assembly equipment.

Background

Currently, the fuel cell stack is mostly manually stacked, and the efficiency is low; a few automatic stacking schemes are that a transfer mechanism grabs materials and then moves the materials to a stacking station, then the materials move downwards to a lower end plate, the materials are assembled one by one according to a specified sequence, and the stacking position of the materials changes along with the increase of the height of a galvanic pile. The stacking method has the disadvantages that the stacking position of the transfer mechanism needs to be preset according to the thickness of each piece of material, the preset position is a theoretical position and has a certain difference with an actual position, and position errors are accumulated along with the increase of the number of the materials, so that the interference between the transfer mechanism and a galvanic pile can be caused in an extreme case; in addition, when the stacked galvanic pile is transported to the galvanic pile pressurizing and fastening station process and positioned by a pressurizing tool, the distance is often far, a protection and auxiliary positioning device is lacked, and the stacked materials are likely to deviate in the transporting process, so that the assembly efficiency of the galvanic pile is low, and the yield is reduced.

In the related art, a single robot is used for stacking, aiming at various materials of the fuel cell, the robot needs to go to different material boxes to take the materials for positioning and stacking, the path of the robot is lengthened, the stacking efficiency is influenced, the design of a clamp is more complex, and the stacking precision is influenced.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides fuel cell stack assembling equipment to solve the problems of improving the stacking precision, stacking efficiency and yield of fuel cells in the related art.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a fuel cell pile equipment, includes the PLC controller, piles up robot, vision positioning mechanism and sweeps a yard mechanism, its characterized in that: the stacking robot is matched with the lifting material taking mechanism for taking materials, the visual positioning mechanism and the code scanning mechanism for taking pictures and scanning codes, and the lifting stacking mechanism for feeding materials is matched with the lifting stacking mechanism, the lifting stacking mechanism is moved to the electric pile press through the moving mechanism for positioning, so that materials are pressed through the electric pile press.

Preferably: pile up robot, lift feeding agencies, visual positioning mechanism and sweep a yard mechanism and set up at least two sets ofly, and be located lift stacking agencies both sides, pile up the robot and be equipped with and get the material sucking disc, get and install displacement sensor on the material sucking disc. The number of the stacking robots is determined according to the lifting material taking mechanism, at least two groups of stacking robots are arranged, each group of stacking robots can independently stack or alternately stack simultaneously, and the efficiency is improved. Meanwhile, the material taking sucker is adopted for sucking materials, the materials cannot be damaged, errors can be eliminated through the displacement sensor, and the stacking height is kept.

Preferably: the lifting stacking mechanism comprises a lifting device and a stacking device, the stacking device comprises a tool bottom plate, an adjustable component, a pile positioning rod, a tool heightening block, a pile lower end plate, a pile upper end plate and a working positioning pressing plate, the tool bottom plate is rectangular, the adjustable component is mounted on each edge of the tool bottom plate, at least one pile positioning rod is mounted on the upper side of the adjustable component, one side of the tool bottom plate is left and fixedly mounted with the pile positioning rod, the tool heightening block is mounted in each pile positioning rod on the tool bottom plate, the pile lower end plate and the pile upper end plate are movably mounted in each pile positioning rod, the top of each pile positioning rod is movably connected with the working positioning pressing plate, and the lifting device is matched with the pile lower end plate. The stacking device is used for accommodating materials, the multiple electric pile positioning rods are combined and used for assisting in positioning the materials and preventing the materials from shifting, the materials comprise but are not limited to bipolar plates, membrane electrodes, monocells and other similar materials, and after the materials of the whole stacking device are received, the materials can be moved to an electric pile press to be pressed and automatically operated.

Preferably: the lifting device comprises a lifting seat, a lifting servo electric cylinder and a fork, the lifting seat is fixed on the rack, the lifting servo electric cylinder is installed on the lifting seat, the lifting servo electric cylinder drives the fork to move up and down, and the fork is matched with a lower end plate of the electric pile. The pallet fork on the lifting device drives the lower end plate of the electric pile to lift, and the material is received.

Preferably: the adjustable component comprises an adjusting bottom plate, an adjusting movable plate and a fine adjustment moving seat, the adjusting movable plate is longitudinally slidably connected onto the adjusting bottom plate, an adjustable bolt is arranged on the upper side of the adjusting movable plate and connected with the bottom plate in a positioning mode, an adjustable positioning piece is arranged on the side face of the bottom plate, the adjustable positioning piece is in positioning fit with a notch formed in the adjusting movable plate, at least one fine adjustment moving seat is installed on the adjusting movable plate, a fixed-installation pile positioning rod corresponds to the fine adjustment moving seat, the bottom of the fine adjustment moving seat is transversely slidably connected onto the adjusting movable plate, and an adjustable handle is arranged on the fine adjustment moving seat. The material of different specifications is convenient for receive, and the suitability is high.

Preferably: the moving mechanism comprises positioning aluminum profiles, at least one positioning air cylinder, a positioning block and a transfer platform, a pair of positioning aluminum profiles is arranged on the rack, the positioning air cylinder is installed on one of the positioning aluminum profiles, another positioning aluminum profile is further arranged between one ends of the pair of positioning aluminum profiles, the positioning air cylinder pushes the positioning block to be movably connected with the tool bottom plate, and a ball table or a slide rail platform is arranged below the tool bottom plate and on the transfer platform on the rack. The location is carried out during the material loading, and the whole device that piles up is carried through the ball platform or the slide rail platform that set up during ejection of compact pressure equipment, can set up cylinder or manual work and promote whole convenient laborsaving to piling up the device.

Preferably: the pile press comprises a press body, a press-fitting driver, an upper press head and a lower press head, wherein the press-fitting driver drives the upper press head to lift, and one side of the lower press head is provided with a pair of positioning pins.

Preferably: still be equipped with the mounting bracket in the frame, be equipped with waste material box on the mounting bracket. Discernment is carried out the material through vision positioning mechanism and sweep a yard mechanism, and unqualified material is through piling up in the robot places the waste material box.

Preferably: the lifting material taking mechanism comprises a lifting cylinder and a lifting material box movably connected, the lifting cylinder is installed at the bottom of the installation frame, and the lifting material box is located at the top of the installation frame. The automatic lifting supplies materials, and is convenient for the suction of the material taking sucker.

Preferably: the end part of the electric pile positioning rod is provided with a chamfer, and the tool heightening block is provided with a groove. The chamfer design has the guide effect, and the slot design avoids interfering with the fork.

The invention has the following beneficial effects:

according to the invention, the stacking robot, the visual positioning mechanism, the code scanning mechanism, the lifting material taking mechanism, the lifting stacking mechanism, the moving mechanism and the electric pile press are adopted, and all the mechanisms are controlled by the PLC controller, so that compared with an implementation mode of manually stacking and conveying to other stations for pressurization after assembly, the automatic stacking and pressurization fastening procedures of the electric piles can be synchronously carried out, the assembly time is greatly saved, the integral stacking beat of the electric piles is reduced, the pile loading efficiency is improved, the stacking tool ensures the stacking precision of the electric piles, the safety and the reliability are realized, and the working efficiency is improved.

The lifting stacking mechanism is stable in operation, accurate in positioning and capable of eliminating errors; and meanwhile, the fuel cell stack can be compatible with fuel cell stacks with different height specifications.

Drawings

FIG. 1 is a schematic plan view of the present invention;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a schematic view of the connection between the lifting and material-taking mechanism and the lifting and stacking mechanism of the present invention;

FIG. 4 is a schematic structural view of the lifting and stacking mechanism of the present invention;

FIG. 5 is an enlarged view of FIG. 4 at A;

fig. 6 is a schematic structural view of the pile press of the present invention.

Reference numerals: 1. a stacking robot; 11. a material taking sucker; 2. a visual positioning mechanism; 3. a code scanning mechanism; 4. a frame; 5. a lifting material taking mechanism; 51. a lifting cylinder; 52. lifting the material box; 6. a lifting device; 61. a lifting seat; 62. a lifting servo electric cylinder; 63. a pallet fork; 7. a stacking device; 71. a tooling bottom plate; 72. a pile upper end plate; 73. a galvanic pile positioning rod; 74. a tooling block-up block; 75. a lower end plate of the pile; 76. a working positioning pressing plate; 77. a trench; 8. an adjustable component; 81. adjusting the bottom plate; 82. adjusting the moving plate; 83. fine-tuning the movable seat; 84. an adjustable positioning member; 85. an adjustable handle; 9. a moving mechanism; 91. positioning the aluminum profile; 92. positioning the air cylinder; 93. positioning blocks; 94. a transfer platform; 10. a galvanic pile press; 12. a press body; 13. pressing a driver; 14. an upper pressure head; 15. a lower pressure head; 16. positioning pins; 17. a mounting frame; 18. a waste bin; 19. and a displacement sensor.

Detailed Description

The preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings.

The fuel cell stack assembling equipment shown in fig. 1-6 comprises a PLC controller, a stacking robot 1, a visual positioning mechanism 2, a code scanning mechanism 3, a frame 4, a lifting material taking mechanism 5 installed on the frame 4, a lifting stacking mechanism installed on the frame 4, a moving mechanism 9 and a stack press 10, wherein the frame 4 is further provided with an installation frame 17, and the installation frame 17 is provided with a waste material box 18.

Pile up robot 1, lift feeding agencies 5, vision positioning mechanism 2 and sweep yard mechanism 3 and set up at least two sets ofly, set up two sets ofly in this embodiment, but actual quantity can increase as required, pile up robot 1 and be located lift stacking agencies both sides, pile up robot 1 and be equipped with and get material sucking disc 11, get and install displacement sensor 19 on the material sucking disc 11. Each group of stacking robots 1 can independently stack or alternately stack at the same time, so that the efficiency is improved. Meanwhile, the material taking sucker 11 is adopted for sucking materials, the materials cannot be damaged, errors can be eliminated through the displacement sensor 19, and the stacking height is kept.

Pile up robot 1 and go up and down the feeding agencies 5 and get the material cooperation, then shoot and sweep the sign indicating number cooperation through vision positioning mechanism 2 and sweep yard mechanism 3 to the material, will detect out unqualified material through pile up robot 1 and place in waste material box 18, send the material in the feeding agencies 5 of going up and down to the lift through piling up robot 1 in the stacking agencies, the lift stacking agencies moves to pile press 10 through moving mechanism 9 and fixes a position to carry out the pressure equipment to the material through pile press 10. The visual positioning mechanism 2 can adopt a positioning camera (adopting a double-camera module) and a light source, the code scanning mechanism 3 adopts a conventional code scanner, the material positioning characteristic points can be appointed to carry out photographing calculation, the material is quickly and accurately positioned, and the material codes are read and recorded.

The lifting material taking mechanism 5 comprises a lifting cylinder 51 and a lifting material box 52 movably connected, the lifting cylinder 51 is installed at the bottom of the mounting frame 17, the lifting material box 52 is located at the top of the mounting frame 17, materials are placed in the lifting material box 52, the materials are automatically lifted to feed, and the materials are conveniently sucked by the material taking sucker 11.

The lifting stacking mechanism comprises a lifting device 6 and a stacking device 7, the stacking device 7 comprises a tool bottom plate 71, an adjustable assembly 8, a galvanic pile positioning rod 73, a tool heightening block 74, a galvanic pile lower end plate, a galvanic pile upper end plate 72 and a working positioning pressing plate 76, the tool bottom plate 71 is rectangular, the adjustable assembly 8 is arranged on three sides of the tool bottom plate 71, at least one galvanic pile positioning rod 73 is arranged on the upper side of the adjustable assembly 8, the remaining one side of the tool bottom plate 71 is fixedly provided with the galvanic pile positioning rod 73, the tool heightening block 74 is arranged in each galvanic pile positioning rod 73 on the tool bottom plate 71, the galvanic pile lower end plate and the galvanic pile upper end plate 72 are movably arranged in each galvanic pile positioning rod 73, the top of each galvanic pile positioning rod 73 is movably connected with the working positioning pressing plate 76, and the lifting device 6 is matched with the galvanic pile lower end plate. The stacking device 7 is used for containing materials, a plurality of electric pile positioning rods 73 are combined and used for auxiliary positioning of the materials and preventing the materials from shifting, the materials comprise but are not limited to bipolar plates, membrane electrodes, monocells and other similar materials, after the materials of the whole stacking device 7 are received, an electric pile upper end plate 72 can be placed in, and finally the working positioning pressing plate 76 and the end portions of the electric pile positioning rods 73 are assembled to press down the materials to be fixed so as to move to the electric pile press 10 to be pressed and operated automatically.

The end of the electric pile positioning rod 73 is provided with a chamfer, and the tooling heightening block 74 is provided with a groove 77. The chamfered design has a guiding effect and the grooves 77 are designed to avoid interference with the forks 63.

The lifting device 6 comprises a lifting seat 61, a lifting servo electric cylinder 62 and a fork 63, the lifting seat 61 is fixed on the frame 4, the lifting servo electric cylinder 62 is installed on the lifting seat 61, the lifting servo electric cylinder 62 drives the fork 63 to move up and down, and the fork 63 is matched with a lower end plate of the electric pile. The pallet fork 63 on the lifting device 6 drives the lower end plate of the electric pile to lift, and the materials are received.

Adjustable subassembly 8 is including adjusting bottom plate 81, regulation movable plate 82 and fine setting removal seat 83, and regulation movable plate 82 longitudinal sliding connects on adjusting the bottom plate, and adjusts movable plate 82 upside and be equipped with adjustable bolt and bottom plate and be connected the location, and the bottom plate side is equipped with adjustable locating piece 84, and the breach location fit that sets up on adjustable locating piece 84 and the regulation movable plate 82, adjust at least one fine setting removal seat 83 of installation on the movable plate 82, correspond fixed mounting pile locating lever 73 on the fine setting removal seat 83, fine setting removal seat 83 bottom lateral sliding connects on adjusting movable plate 82, is equipped with adjustable handle 85 on the fine setting removal seat 83. Can carry out vertical and horizontal regulation, be convenient for receive the material of different specifications, the suitability is high.

The moving mechanism 9 comprises positioning aluminum profiles 91, at least one positioning cylinder 92, a positioning block 93 and a transfer platform 94, a pair of positioning aluminum profiles 91 is arranged on the frame 4, the positioning cylinder 92 is installed on one of the positioning aluminum profiles 91, another positioning aluminum profile 91 is further arranged between one ends of the pair of positioning aluminum profiles 91, the positioning cylinder 92 pushes the positioning block 93 to be movably connected with the tooling bottom plate 71, and ball tables or sliding rail platforms are arranged on the frame 4 below the tooling bottom plate 71 and on the transfer platform 94. The location is carried out during the material loading, and the whole device 7 that piles up is carried through the ball platform or the slide rail platform that set up during ejection of compact pressure equipment, can set up cylinder or manual work and promote whole convenient laborsaving piling up device 7.

The galvanic pile press 10 comprises a press body 12, a press-fitting driver 13, an upper press head 14 and a lower press head 15, wherein a pair of positioning pins 16 are arranged on one side of the lower press head 15, the positioning pins 16 are used for positioning a tooling bottom plate 71, the press-fitting driver 13 drives the upper press head 14 to lift, and the stacking device 7 is pressed and fitted.

During actual operation, the stacking device 7 is positioned in the stacking area of the frame 4, the stacking robot 1 moves to the position of the lifting material box 52, the stacking robot 1 grabs materials through the material taking sucker 11, the fork 63 on the lifting device 6 holds the lower end plate of the electric pile and lifts to the stacking height of the stacking robot 1, the stacking robot 1 moves the materials to the positions above the visual positioning mechanism 2 and the code scanning mechanism 3 to take pictures and scan codes, the material positioning correction is carried out, the material codes are read, the detected unqualified materials are placed in the waste material box 18 through the stacking robot 1, the qualified materials are placed in the stacking device 7 through the stacking robot 1, the material height position is detected through the displacement sensor 19, and the electric pile positioning rod 73 assists in guiding and positioning; meanwhile, the lifting material box 52 raises the material according to the thickness of the material to feed and maintain the height of the raw material, and the lifting mechanism lowers the lower end plate of the galvanic pile according to the numerical value of the displacement sensor 19 to maintain the height of the raw material. The stacking robots 1 on the two sides alternately repeat the stacking actions, so that high-speed and accurate stacking is realized. After the materials are stacked to a specified amount, the stacking device 7 is integrally moved out to the transfer platform 94, then is moved to the position of the lower pressure head 15 of the electric pile press 10 for positioning, the electric pile press 10 is started to pressurize and fasten the electric piles, meanwhile, the steps can be repeated, the stacking work of the next electric pile is continued, after the electric pile fastening is completed, the stacking device is moved to the transfer platform 94, the electric pile positioning rod 73 is moved away, the electric pile is moved out, the electric pile assembling work is completed, and meanwhile, the pressurizing and fastening work of the next electric pile is continued.

According to the invention, the stacking robot 1, the visual positioning mechanism 2, the code scanning mechanism 3, the lifting material taking mechanism 5, the lifting stacking mechanism, the moving mechanism 9 and the electric pile press 10 are adopted, and all the mechanisms are controlled by the PLC controller, so that compared with an implementation mode of manually stacking and conveying to other stations for pressurization after assembly, the automatic stacking and pressurization fastening processes of the electric piles can be synchronously carried out, the assembly time is greatly saved, the integral stacking rhythm of the electric piles is reduced, the stacking efficiency is improved, the stacking tool ensures the stacking precision of the electric piles, and the electric pile stacking device is safe and reliable, and the working efficiency is improved.

The lifting stacking mechanism is stable in operation, accurate in positioning and capable of eliminating errors; and can be compatible with fuel cell stacks with different height specifications.

The above-mentioned embodiments are only used for explaining the inventive concept of the present invention, and do not limit the protection of the claims of the present invention, and any insubstantial modifications of the present invention using this concept shall fall within the protection scope of the present invention.

Claims

1. The utility model provides a fuel cell pile equipment, includes the PLC controller, piles up robot, vision positioning mechanism and sweeps a yard mechanism, its characterized in that: the stacking robot is respectively matched with the lifting material taking mechanism for taking materials, matched with the visual positioning mechanism and the code scanning mechanism for taking pictures and scanning codes, and matched with the lifting stacking mechanism for feeding materials, and the lifting stacking mechanism is moved to the electric pile press through the moving mechanism for positioning, so that the materials are pressed and mounted through the electric pile press;

the stacking robot, the lifting material taking mechanism, the visual positioning mechanism and the code scanning mechanism are arranged in at least two groups and are positioned on two sides of the lifting stacking mechanism, the stacking robot is provided with a material taking sucker, and a displacement sensor is arranged on the material taking sucker;

the lifting stacking mechanism comprises a lifting device and a stacking device, the stacking device comprises a tooling bottom plate, an adjustable component, a pile positioning rod, a tooling heightening block, a pile lower end plate, a pile upper end plate and a working positioning pressing plate, the tooling bottom plate is rectangular, the adjustable component is installed on three sides of the tooling bottom plate, the adjustable component is installed on the upper side of the adjustable component, the pile positioning rod is fixedly installed on one side of the tooling bottom plate, the tooling heightening block is installed in each pile positioning rod on the tooling bottom plate, the pile lower end plate and the pile upper end plate are movably installed in each pile positioning rod, the working positioning pressing plate is movably connected to the top of each pile positioning rod, the lifting device is matched with the pile lower end plate, and the lifting device comprises a lifting seat, a lifting servo cylinder and a pallet fork.

2. A fuel cell stack assembly apparatus according to claim 1, wherein: the lifting seat is fixed on the frame, the lifting servo electric cylinder is installed on the lifting seat, the lifting servo electric cylinder drives the fork to move up and down, and the fork is matched with the end plate under the electric pile.

3. A fuel cell stack assembly apparatus according to claim 1, wherein: the adjustable component comprises an adjusting bottom plate, an adjusting movable plate and a fine adjustment moving seat, the adjusting movable plate is longitudinally slidably connected onto the adjusting bottom plate, an adjustable bolt is arranged on the upper side of the adjusting movable plate and connected with the bottom plate in a positioning mode, an adjustable positioning piece is arranged on the side face of the bottom plate, the adjustable positioning piece is in positioning fit with a notch formed in the adjusting movable plate, at least one fine adjustment moving seat is installed on the adjusting movable plate, a fixed-installation pile positioning rod corresponds to the fine adjustment moving seat, the bottom of the fine adjustment moving seat is transversely slidably connected onto the adjusting movable plate, and an adjustable handle is arranged on the fine adjustment moving seat.

4. A fuel cell stack assembly apparatus according to claim 1, wherein: the moving mechanism comprises positioning aluminum profiles, at least one positioning air cylinder, a positioning block and a transfer platform, a pair of positioning aluminum profiles is arranged on the rack, the positioning air cylinder is installed on one of the positioning aluminum profiles, another positioning aluminum profile is further arranged between one ends of the pair of positioning aluminum profiles, the positioning air cylinder pushes the positioning block to be movably connected with the tool bottom plate, and a ball table or a slide rail platform is arranged below the tool bottom plate and on the transfer platform on the rack.

5. A fuel cell stack assembly apparatus according to claim 1, wherein: the pile press comprises a press body, a press-mounting driver, an upper press head and a lower press head, wherein the press-mounting driver drives the upper press head to lift, and one side of the lower press head is provided with a pair of positioning pins.

6. A fuel cell stack assembly apparatus according to claim 1, wherein: still be equipped with the mounting bracket in the frame, be equipped with waste material box on the mounting bracket.

7. A fuel cell stack assembly apparatus according to claim 1, wherein: the lifting material taking mechanism comprises a lifting cylinder and a lifting material box movably connected, the lifting cylinder is installed at the bottom of the installation frame, and the lifting material box is located at the top of the installation frame.

8. A fuel cell stack assembly apparatus according to claim 1, wherein: the end part of the electric pile positioning rod is provided with a chamfer, and the tool heightening block is provided with a groove.