CN114671256A - Pile material stacking control method and device and material taking mechanism - Google Patents
Pile material stacking control method and device and material taking mechanism Download PDFInfo
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- CN114671256A CN114671256A CN202011549219.9A CN202011549219A CN114671256A CN 114671256 A CN114671256 A CN 114671256A CN 202011549219 A CN202011549219 A CN 202011549219A CN 114671256 A CN114671256 A CN 114671256A
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- 239000000463 material Substances 0.000 title claims abstract description 255
- 230000007246 mechanism Effects 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims abstract description 49
- 239000013077 target material Substances 0.000 claims abstract description 86
- 239000012528 membrane Substances 0.000 claims description 26
- 230000008569 process Effects 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000007664 blowing Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 4
- 238000000429 assembly Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M8/00—Fuel cells; Manufacture thereof
- H01M8/24—Grouping of fuel cells, e.g. stacking of fuel cells
- H01M8/2404—Processes or apparatus for grouping fuel cells
Abstract
The embodiment of the invention provides a galvanic pile material stacking control method, a galvanic pile material stacking control device and a material taking mechanism, and relates to the technical field of galvanic pile manufacturing control. The method comprises the following steps: after the material taking mechanism is controlled to reach a first designated position, a first distance between the material taking mechanism and a target material is acquired in real time; controlling a material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and the first threshold; and controlling the material taking mechanism to move a second distance in the direction away from the target material, and updating the second designated position according to the current position of the material control mechanism. This embodiment has effectively eliminated the influence that the thickness difference between the material and the clearance difference between the material that the roughness of material leads to brought between the material, the distance of detection sucking disc and material and galvanic pile that can be accurate, simultaneously, can whether the on-line measuring material drops, if the material drops then automatic shutdown operation, the reduction of using manpower sparingly piles up the mistake.
Description
Technical Field
The invention relates to the technical field of stack manufacturing control, in particular to a stack material stacking control method, a stack material stacking control device and a material taking mechanism.
Background
The fuel cell usually needs to assemble a plurality of single cells into a stack by a series connection mode, the main components of the stack are bipolar plates (BPP), Membrane Electrode Assemblies (MEA), end plates, fasteners and the like, the assembly of the stack is an integral structure formed by assembling parts of metal end plates, current collecting plates, BPP, MEA and the like by using the clamping force of the metal end plates, wherein the accuracy of single cell stacking determines the performance of the stack, the height of materials and the stack can be changed all the time in the material stacking process because the thickness of each part has a certain tolerance, gaps exist due to the flatness difference of the natural state of the parts, and the gaps exist between the MEA and the BPP of each single cell, so that the height changes of the materials and the stack are inconsistent, the existing stack material stacking method usually adopts the preset initial height for absorbing the materials, The manipulator is controlled by the parameters such as the thickness of the material, the absorption range and the like to grab the material, and the position for grabbing the material cannot be adjusted according to the change of material stacking, so that the distance between a sucker and the material and between the sucker and a galvanic pile cannot be accurately ensured when the material is taken and placed, and the condition that the material cannot be absorbed by the sucker or the material is impacted by the sucker is easy to occur.
Disclosure of Invention
The invention aims to provide an environment self-detection method, device and system based on a fuel cell system and an automobile, so as to solve the problem that the existing method cannot accurately absorb materials with constantly changing heights and place the materials on a pile with the varying heights.
In order to achieve the above object, in a first aspect of the present invention, there is provided a stack material stacking control method including:
controlling a material taking mechanism to reach a first designated position, and then acquiring a first distance between the material taking mechanism and a target material in real time;
controlling the material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and a first threshold value;
and controlling the material taking mechanism to move a second distance in the direction far away from the target material, and updating the second designated position according to the current position of the material control mechanism.
Optionally, controlling the material taking mechanism to move a second distance in a direction away from the target material comprises:
and during the period of controlling the material taking mechanism to move towards the direction far away from the target material, acquiring the distance between the material taking mechanism and the target material in real time until the distance between the material taking mechanism and the target material is a second distance, and controlling the material taking mechanism to stop moving.
Optionally, the first distance and the second distance are both distances between the material taking mechanism and the target material in a vertical direction.
Optionally, controlling the material taking mechanism to move the material to a second designated position and place the material according to a comparison result of the first distance and a first threshold value, including:
and determining that the first distance reaches the first threshold value, controlling the material taking mechanism to stop moving, controlling the material taking mechanism to take the target material and moving the target material to a second appointed position.
Optionally, the method further comprises:
and in the process that the material taking mechanism moves the target material, if the distance between the target material and the material taking mechanism is greater than a second threshold value, controlling the material taking mechanism to stop moving.
Optionally, the method further comprises:
and in the process that the material taking mechanism moves the target material, detecting the state of the target material in real time, and controlling the material taking mechanism to stop moving if the target material is not in the state of being absorbed by the material taking mechanism.
Optionally, the target material is a bipolar plate or a membrane electrode assembly;
the first designated position is a pickup position of the bipolar plate or a pickup position of the membrane electrode assembly.
Optionally, after controlling the material taking mechanism to move a second distance in a direction away from the target material and updating the second designated position according to the current position of the material control mechanism, the method further includes:
and controlling the material control mechanism to reach the taking position of the bipolar plate or the taking position of the membrane electrode assembly.
In a second aspect of the present invention, there is provided a stack material stacking control apparatus comprising:
the first control module is configured to control the material taking mechanism to reach a first designated position and then obtain a first distance between the material taking mechanism and a target material in real time;
the second control module is configured to control the material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and a first threshold value;
and the third control module is configured to control the material taking mechanism to move a second distance in the direction away from the target material, and update the second designated position according to the current position of the material control mechanism.
In a third aspect of the present invention, there is provided a material take-out mechanism comprising:
the sucking disc is used for sucking the target material;
the distance sensor is arranged on the sucker and used for detecting the distance between the sucker and the target material;
the manipulator is used for driving the sucker to move;
a processor, a memory, and computer program instructions stored in the memory that, when executed by the processor, implement the above-described stack material stacking control method.
According to the technical scheme, the first distance between the material taking mechanism and the target material is obtained in real time, and the material taking mechanism is controlled to take the target material to the specified position according to the first distance, so that the thickness difference between the materials and the gap difference between the materials caused by the flatness of the materials can be effectively eliminated, the material taking mechanism is accurately controlled to be in the optimal range for taking the materials, and the situation that the material taking mechanism collides with the materials when taking the materials or cannot successfully take the materials is avoided; meanwhile, after the material taking mechanism places the material to the designated position, the material taking device is controlled to move in the reverse direction for a second distance according to the real-time distance between the material taking device and the target material, and the designated position when the material is placed next time is updated according to the current position, so that the material taking device is always at the optimal distance for placing the material when the material is placed.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a method for controlling stack material stacking according to a preferred embodiment of the present invention;
fig. 2 is a schematic diagram of a stack provided in a preferred embodiment of the present invention;
fig. 3 is a schematic view of a material reclaiming control of a conventional stack according to a preferred embodiment of the present invention;
FIG. 4 is a schematic view of discharge control of a conventional stack according to a preferred embodiment of the present invention;
FIG. 5 is a schematic structural view of a material pickup mechanism provided in the preferred embodiment of the present invention;
FIG. 6 is a schematic illustration of the take-off control provided by the preferred embodiment of the present invention;
FIG. 7 is a schematic illustration of the discharge control provided by the preferred embodiment of the present invention;
FIG. 8 is a diagram illustrating a second designated position update control according to a preferred embodiment of the present invention;
fig. 9 is a schematic block diagram of a stack material stacking control apparatus according to a preferred embodiment of the present invention.
Description of the reference numerals
1-stacking and positioning device, 2-end plate, 3-bipolar plate, 4-membrane electrode assembly, 5-membrane electrode assembly material frame, 6-sucker, 7-distance sensor, 8-manipulator, 9-infrared ray, 10-bipolar plate material frame.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, in a first aspect of the present embodiment, there is provided a stack material stacking control method including:
after the material taking mechanism is controlled to reach a first designated position, acquiring a first distance between the material taking mechanism and a target material in real time;
controlling a material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and the first threshold;
and controlling the material taking mechanism to move a second distance in the direction away from the target material, and updating the second designated position according to the current position of the material control mechanism.
As shown in fig. 2, the stack stacking process requires moving and placing the bipolar plates 3 from and to the stacking position of the bipolar plates 3, i.e., the bipolar plate frame 10, and moving and placing the meas 4 from and to the stacking position of the meas 4, i.e., the mea frame 5, in a set order. The existing material taking mechanism is generally composed of a manipulator 8 and a sucker 6, wherein the sucker 6 is used for sucking materials, and the manipulator 8 is used for driving the sucker 6 to move according to a set path. In the stacking process of the galvanic pile, the mechanical arm 8 drives the sucker 6 to sequentially and alternately grab the bipolar plates 3 and the membrane electrode assemblies 4 from the bipolar plate 3 material frame and the membrane electrode assembly 4 material frame respectively according to a set stacking sequence, and stack the bipolar plates 3 and the membrane electrode assemblies 4 on the end plate 2 according to a preset path, wherein the end plate 2 is provided with a stacking and positioning device 1 for limiting. Along with piling up going on, the height of pile and material is changing always, in order to guarantee to pile up the process and normally go on, requires that sucking disc 6 stops in the position of difference along with the change of pile and material height, and this position can guarantee to have a reasonable interval between sucking disc 6 and material and the pile, guarantees to get material, blowing safely and accurately at every turn in this interval within range. If the distance is too large, the membrane electrode assembly 4 and the bipolar plate 3 cannot be smoothly sucked in the sucking process, and meanwhile, because the membrane electrode assembly 4 is light, the membrane electrode assembly 4 floats in the air in the placing process due to the too large distance, so that the stacking precision is influenced, and the quality of the electric pile is unqualified; if the distance is too small, there is a risk that the suction cup 6 collides with the part and the stack. As shown in fig. 3, the existing material taking process is as follows: the method comprises the following steps of firstly setting an initial height, namely an initial position and a material height, wherein a suction space is arranged between the initial position and the material height, and the suction space can guarantee the suction range of the material which can be effectively sucked by the sucker 6. When getting the material for the first time manipulator 8 stops to the initial position, absorbs the material through sucking disc 6, when absorbing the second piece after the blowing is accomplished manipulator 8 more than the first distance of removing a slice material thickness guarantees to absorb the material smoothly to analogize and pile up until accomplishing the material. As shown in fig. 4, the existing discharging process is as follows: at first set for the initial height of blowing, the initial position of blowing promptly, when placing first piece material, sucking disc 6 absorbs material to initial position, stops and puts down the material, absorbs the second piece material again, and sucking disc 6 moves to the distance that is higher than initial position by a slice material thickness, stops and puts down the material to this analogizes and piles up the completion up to the material, simultaneously, whether drops through artifical control material at the whole in-process that the material piles up. Like this, because initial position when manipulator 8 snatchs the material and initial position and material height when placing the material are all preset, consequently, pile up the in-process in the reality, the influence that the clearance and material thickness difference, roughness difference brought between the material can't be eliminated to the system to get material blowing many times after, the error grow leads to colliding with the material or can't successfully absorb the material.
In this embodiment, before absorbing the material, control manipulator 8 earlier and arrive first assigned position, for example, first assigned position can be directly over the material frame, so that sucking disc 6 absorbs the material, after manipulator 8 reachs the material frame top, through obtaining the first distance between sucking disc 6 and the material in real time, and control manipulator 8 according to the comparison result of first distance and first threshold value and move according to the predetermined route, and then can guarantee always that the first distance between sucking disc 6 and the material is accurate distance, thereby avoid because of clearance and material thickness difference between the material, the roughness difference leads to getting material blowing back many times, the error grow leads to colliding the material or can't successfully absorb the problem of material. As shown in fig. 5, the first distance is obtained by a distance sensor 7, wherein the distance sensor 7 may be an infrared sensor, for example, the distance sensor 7 may be fixedly arranged on the suction cup 6. Therefore, when the first distance reaches the first threshold value, the manipulator 8 is controlled to stop moving, the sucker 6 is controlled to suck the target material, and the target material is moved to the second appointed position through the manipulator 8 according to the preset path. After the control sucking disc 6 reaches the second appointed position, the manipulator 8 is controlled to stop moving, the manipulator 8 is controlled to retreat by the second distance, meanwhile, the current position information of the manipulator 8 is recorded, for example, the coordinate of the current position of the manipulator 8 is calibrated according to the second appointed position and the second distance, and the second appointed position is updated according to the current position of the manipulator 8, therefore, when the manipulator 8 places the next piece of material, the manipulator 8 is directly controlled to move to the updated second appointed position, and the like, so that the safe and accurate sucking and placing of the material can be guaranteed in the stacking process. The second designated position is a position where the suction cup 6 has a certain safety distance from the end plate 2, and the second designated position may be a preset position, for example, a descending distance of the manipulator 8 when the manipulator discharges materials for the first time is preset according to the position of the end plate 2; it may also be a position obtained in real time, for example, the robot 8 obtains the position between the suction cup 6 and the end plate 2 in real time during the lowering, or obtains the vertical distance between a certain point on the robot 8 and the table or the end plate 2 in real time until the second designated position is reached. It will be appreciated that the second distance may also be a predetermined distance or a distance between the suction cup 6 and the material obtained in real time.
Therefore, the first distance between the material taking mechanism and the target material is obtained in real time, and the material taking mechanism is controlled to take the target material to the specified position according to the first distance, so that the thickness difference between the materials and the gap difference between the materials caused by the flatness of the materials can be effectively eliminated, the material taking mechanism is accurately controlled to be in the optimal range for taking the materials, and the situation that the material taking mechanism collides with the materials when taking the materials or cannot successfully take the materials is avoided; meanwhile, after the material taking mechanism places the material to the designated position, the material taking device is controlled to move in the reverse direction for a second distance according to the real-time distance between the material taking device and the target material, and the designated position when the material is placed next time is updated according to the current position, so that the material taking device is always at the optimal distance for placing the material when the material is placed.
In order to further eliminate the influence caused by the difference of the materials, in a specific embodiment of the present embodiment, the controlling the material taking mechanism to move a second distance in the direction away from the target material includes:
and during the period of controlling the material taking mechanism to move towards the direction far away from the target material, acquiring the distance between the material taking mechanism and the target material in real time until the distance between the material taking mechanism and the target material is a second distance, and controlling the material taking mechanism to stop moving. Wherein, the second distance is the safe distance of placing between sucking disc 6 and the material, and this distance can guarantee that sucking disc 6 can not send the collision with the material that has piled up when placing the material, also can not make the material drift in the air yet.
In order to facilitate calculation and ensure the accuracy of distance detection, the first distance and the second distance in the present embodiment are both the distance between the suction cup 6 and the target material in the vertical direction.
In a specific example of this embodiment, the method further comprises: in the process that the material taking mechanism moves the target material, the distance between the target material and the sucker 6 is detected in real time through the distance sensor 7, and if the distance between the target material and the material taking mechanism is larger than a second threshold value, the material taking mechanism is controlled to stop moving. If the distance between the target material and the suction cup 6 is greater than the second threshold value, which indicates that the material falls, the manipulator 8 is immediately controlled to stop moving to avoid accidents, wherein the distance sensor 7 may be an infrared sensor.
In another specific example of this embodiment, the method further comprises: in the process that the material taking mechanism moves the target material, the state of the target material is detected in real time, and if the target material is not in the state of being sucked by the material taking mechanism, the material taking mechanism is controlled to stop moving. For example, whether the object detection sensor can detect the material at the effective distance or not is detected in real time, and if the material cannot be detected, the material is dropped. Wherein, object detection sensor can be infrared ray sensor, and the infrared ray that sends through infrared ray sensor detects the material in order to judge whether the state of material is in the state of being absorbed by material taking mechanism.
Specifically, in the present embodiment, the target material is the bipolar plate 3 or the membrane electrode assembly 4; the first designated position is a pickup position of the bipolar plate 3 or a pickup position of the membrane electrode assembly 4. The fuel cell stack is composed of a plurality of single cells, each single cell is composed of a bipolar plate, a membrane electrode assembly and a bipolar plate, therefore, in the stack process, the bipolar plates 3 and the membrane electrode assemblies 4 need to be alternately absorbed in sequence, then the material taking mechanism is controlled to move a second distance to the direction far away from the target material, and after the second designated position is updated according to the current position of the material control mechanism, the method further comprises the following steps: the material control mechanism is controlled to reach the taking position of the bipolar plate 3 or the taking position of the membrane electrode assembly 4.
As shown in fig. 6, when the stack stacking is started, the robot 8 is controlled to drive the chuck 6 to a first designated position, i.e. directly above the frame of the bipolar plate 3, and then the robot 8 is further controlled to descend vertically, during the descending process, the infrared sensor detects the first distance between the chuck 6 and the bipolar plate 3 in real time through the infrared ray 9 emitted by the infrared sensor, when the first distance reaches a first threshold value, the robot 8 is controlled to stop moving, and at the same time, the chuck 6 starts to suck the bipolar plate 3 and moves the bipolar plate 3 to above the end plate 2 according to a preset path and controls the robot 8 to descend, as shown in fig. 7, when the chuck 6 reaches a second designated position, i.e. the initial height of the discharge, the robot 8 is controlled to stop moving, and the chuck 6 releases the bipolar plate 3, wherein the initial height of the discharge can be determined by presetting the descending distance of the robot 8, for example, setting the initial height of discharging and a preset path for moving the manipulator 8, wherein the preset path for moving the manipulator 8 is that the manipulator 8 sucks a previous material, vertically rises to the set height, then parallelly moves to a stacking position, namely above the end plate 2, and then vertically descends to a second designated position; that is, in the case where the position of the robot 8 above the material frame is determined in the preset path, the lowering distance of the robot 8 may be determined according to the position of the robot 8 above the material frame and the set initial height. After the chuck 6 has fully released the bipolar plate 3, the control robot 8 moves up a second distance, as shown in fig. 8, records the current position of the chuck 6 and updates the second designated position with this position. And then, controlling the mechanical arm 8 to move to the position above the material frame of the membrane electrode assembly 4 according to a preset path, controlling the mechanical arm 8 to vertically descend, acquiring a first distance between the sucker 6 and the membrane electrode assembly 4 in real time in the descending process, controlling the mechanical arm 8 to stop moving when the first distance reaches a first threshold value, enabling the sucker 6 to start sucking the membrane electrode assembly 4, moving the membrane electrode assembly 4 to the position above the end plate 2 according to the preset path, controlling the mechanical arm 8 to descend, controlling the sucker 6 to stop moving after the sucker 6 reaches an updated second designated position, releasing the membrane electrode assembly 4 by the sucker 6, controlling the mechanical arm 8 to move upwards for a second distance after the sucker 6 completely releases the membrane electrode assembly 4, recording the current position of the sucker 6, updating the second designated position by the position, and so on until the stacking of the electric pile is completed.
As shown in fig. 9, in a second aspect of the present invention, there is provided a stack material stacking control apparatus including:
the first control module is configured to control the material taking mechanism to reach a first designated position and then obtain a first distance between the material taking mechanism and a target material in real time;
the second control module is configured to control the material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and the first threshold;
and the third control module is configured to control the material taking mechanism to move a second distance in the direction away from the target material, and update the second designated position according to the current position of the material control mechanism.
In a third aspect of the present invention, there is provided a material take-out mechanism comprising:
the sucking disc 6 is used for sucking the target material;
the distance sensor 7 is arranged on the sucker 6 and used for detecting the distance between the sucker 6 and a target material, wherein the distance sensor 7 can be an infrared sensor and can simultaneously realize the distance detection between the sucker 6 and the target material and the object detection of the target material;
the manipulator 8 is used for driving the sucker 6 to move;
a processor, a memory and computer program instructions stored in the memory, which when executed by the processor, implement the above-described stack material stacking control method.
In conclusion, the embodiment effectively eliminates the influence caused by the difference of the thickness between the materials and the difference of the gap between the materials caused by the flatness of the materials, can accurately detect the distance between the sucker and the materials and the galvanic pile, can detect whether the materials drop on line, automatically stops working if the materials drop, saves labor and reduces stacking errors.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same shall be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A stack material stacking control method is characterized by comprising the following steps:
controlling a material taking mechanism to reach a first designated position, and then acquiring a first distance between the material taking mechanism and a target material in real time;
controlling the material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and a first threshold value;
and controlling the material taking mechanism to move a second distance in the direction away from the target material, and updating the second appointed position according to the current position of the material control mechanism.
2. The stack material stacking control method of claim 1, wherein controlling the material take-off mechanism to move a second distance away from the target material comprises:
and during the period of controlling the material taking mechanism to move towards the direction far away from the target material, acquiring the distance between the material taking mechanism and the target material in real time until the distance between the material taking mechanism and the target material is a second distance, and controlling the material taking mechanism to stop moving.
3. The stack material stacking control method according to claim 1, wherein the first distance and the second distance are both distances in a vertical direction between the material taking mechanism and the target material.
4. The stack material stacking control method of claim 1, wherein controlling the material taking mechanism to move the material to a second designated position and place the material according to the comparison result of the first distance and a first threshold value comprises:
and determining that the first distance reaches the first threshold value, controlling the material taking mechanism to stop moving, controlling the material taking mechanism to take the target material and moving the target material to a second appointed position.
5. The stack material stack control method according to claim 1, further comprising:
and in the process that the material taking mechanism moves the target material, if the distance between the target material and the material taking mechanism is greater than a second threshold value, controlling the material taking mechanism to stop moving.
6. The stack material stack control method according to claim 1, further comprising:
and in the process that the material taking mechanism moves the target material, detecting the state of the target material in real time, and controlling the material taking mechanism to stop moving if the target material is not in the state of being absorbed by the material taking mechanism.
7. The stack material stack control method according to claim 1, wherein the target material is a bipolar plate or a membrane electrode assembly;
the first designated position is a pickup position of the bipolar plate or a pickup position of the membrane electrode assembly.
8. The stack material stacking control method of claim 7, wherein after controlling the material taking mechanism to move a second distance away from the target material and updating the second designated position according to the current position of the material control mechanism, the method further comprises:
and controlling the material control mechanism to reach the taking position of the bipolar plate or the taking position of the membrane electrode assembly.
9. A stack material stacking control apparatus, comprising:
the first control module is configured to control the material taking mechanism to reach a first designated position and then obtain a first distance between the material taking mechanism and a target material in real time;
the second control module is configured to control the material taking mechanism to move the target material to a second designated position and place the target material according to a comparison result of the first distance and a first threshold value;
and the third control module is configured to control the material taking mechanism to move a second distance in the direction away from the target material, and update the second designated position according to the current position of the material control mechanism.
10. The utility model provides a material mechanism of taking which characterized in that includes:
the sucking disc is used for sucking the target material;
the distance sensor is arranged on the sucker and used for detecting the distance between the sucker and the target material;
the manipulator is used for driving the sucker to move;
a processor, a memory, and computer program instructions stored in the memory that, when executed by the processor, implement the stack material stack control method of any one of claims 1-8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115215092A (en) * | 2022-09-21 | 2022-10-21 | 潍柴动力股份有限公司 | Material taking and placing method for graphite polar plate of hydrogen fuel cell |
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| CN115215092B (en) * | 2022-09-21 | 2023-01-06 | 潍柴动力股份有限公司 | Material taking and placing method for graphite polar plate of hydrogen fuel cell |
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