CN114671256B - 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
- Publication number
- CN114671256B CN114671256B CN202011549219.9A CN202011549219A CN114671256B CN 114671256 B CN114671256 B CN 114671256B CN 202011549219 A CN202011549219 A CN 202011549219A CN 114671256 B CN114671256 B CN 114671256B
- Authority
- CN
- China
- Prior art keywords
- taking mechanism
- distance
- material taking
- target material
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000463 material Substances 0.000 title claims abstract description 252
- 230000007246 mechanism Effects 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 52
- 239000013077 target material Substances 0.000 claims abstract description 90
- 239000012528 membrane Substances 0.000 claims description 28
- 230000008569 process Effects 0.000 claims description 26
- 238000004590 computer program Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- General Chemical & Material Sciences (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
Abstract
The embodiment of the invention provides a pile material stacking control method, a pile material stacking control device and a material taking mechanism, and relates to the technical field of 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 obtained in real time; controlling a material taking mechanism to move the target material to a second designated position according to the comparison result of the first distance and the first threshold value and placing the target material; and controlling the material taking mechanism to move a second distance in a direction away from the target material, and updating a second designated position according to the current position of the material control mechanism. According to the embodiment, the influence caused by the thickness difference between materials and the gap difference between materials caused by the flatness of the materials is effectively eliminated, the distance between the sucker and the materials and the distance between the sucker and the pile can be accurately detected, meanwhile, whether the materials fall down can be detected on line, the operation is automatically stopped if the materials fall down, and labor is saved to reduce stacking errors.
Description
Technical Field
The invention relates to the technical field of pile manufacturing control, in particular to a pile material stacking control method, a pile material stacking control device and a material taking mechanism.
Background
The method for stacking the materials of the electric pile comprises the steps of assembling a plurality of single cells into the electric pile in a serial connection mode, wherein a bipolar plate (BPP), a Membrane Electrode Assembly (MEA), end plates, fasteners and the like are mainly arranged as components, the electric pile is an integral structure formed by partially assembling the metal end plates, the collector plates, the BPP, the MEA and the like by utilizing the clamping force of the metal end plates, the accuracy of stacking the single cells in the assembly process of the electric pile is determined, the quality of the electric pile performance is improved, in the material stacking process, the heights of the materials and the electric pile can be always changed, because certain tolerance exists among the thicknesses of all the parts, gaps exist due to the flatness difference of the natural states of the parts, and the height change of the materials and the electric pile is inconsistent.
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 continuously changing heights and place the materials on a pile with changing 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:
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 obtained in real time;
controlling the material taking mechanism to move the target material to a second designated position according to the comparison result of the first distance and the first threshold value and placing the target material;
and 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.
Optionally, controlling the material handling mechanism to move a second distance in a direction away from the target material includes:
And during the process of controlling the material taking mechanism to move in the direction 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 includes:
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 designated position.
Optionally, the method further comprises:
and in the process of moving the target material by the material taking mechanism, if the distance between the target material and the material taking mechanism is larger than a second threshold value, controlling the material taking mechanism to stop moving.
Optionally, the method further comprises:
And detecting the state of the target material in real time in the process that the material taking mechanism moves the target material, 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 picking position of the bipolar plate or a picking 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 membrane electrode assembly.
In a second aspect of the present invention, there is provided a stack material stack control device comprising:
the first control module is configured to control the material taking mechanism to reach a first designated position and then acquire 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 a 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 handling mechanism comprising:
The sucker is used for sucking target materials;
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;
The stack material stacking control system comprises a processor, a memory and computer program instructions stored in the memory, wherein the computer program instructions realize the stack material stacking control method when the computer program instructions are executed by the processor.
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 designated 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 material taking mechanism is prevented from colliding with the material when the material taking mechanism is used for taking the materials or can not successfully take the materials; meanwhile, after the material taking mechanism places the material to the appointed position, the material taking device is controlled to reversely move by a second distance according to the real-time distance between the material taking device and the target material, and the appointed position when the material is placed next time is updated by the current position, so that the material taking device is always positioned 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 are included to provide a further understanding of 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, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of a stack material stack control method according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a stack of electrical wires provided in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a conventional stack reclaiming control provided by a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the blow control of an existing stack according to a preferred embodiment of the present invention;
FIG. 5 is a schematic view of a material handling mechanism according to a preferred embodiment of the present invention;
FIG. 6 is a schematic illustration of a take-off control provided by a preferred embodiment of the present invention;
FIG. 7 is a schematic diagram of the blow control provided by the preferred embodiment of the present invention;
FIG. 8 is a second designated location update control schematic provided by the preferred embodiment of the present invention;
Fig. 9 is a schematic block diagram of a stack material stacking control device provided in a preferred embodiment of the present invention.
Description of the reference numerals
The device comprises a 1-stacking positioning device, a 2-end plate, a 3-bipolar plate, a 4-membrane electrode assembly, a 5-membrane electrode assembly material frame, a 6-sucker, a 7-distance sensor, an 8-manipulator, 9-infrared rays and a 10-bipolar plate material frame.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
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, a first distance between the material taking mechanism and a target material is obtained in real time;
controlling a material taking mechanism to move the target material to a second designated position according to the comparison result of the first distance and the first threshold value and placing the target material;
and controlling the material taking mechanism to move a second distance in a direction away from the target material, and updating a second designated position according to the current position of the material control mechanism.
As shown in fig. 2, the galvanic pile stacking process requires moving and placing the bipolar plate 3 from the stacking position of the bipolar plate 3, i.e., the bipolar plate frame 10, to the stacking position, and moving and placing the membrane electrode assembly 4 from the stacking position of the membrane electrode assembly 4, i.e., the membrane electrode assembly frame 5, to the stacking position in the set order. The existing material taking mechanism is generally composed of a mechanical arm 8 and a sucker 6, wherein the sucker 6 is used for sucking materials, and the mechanical arm 8 is used for driving the sucker 6 to move according to a set path. In the stacking process of the electric pile, the manipulator 8 drives the sucker 6 to sequentially and alternately grasp the bipolar plate 3 and the membrane electrode assembly 4 from the bipolar plate 3 material frame and the membrane electrode assembly 4 material frame according to the set stacking sequence, the bipolar plate 3 and the membrane electrode assembly 4 are stacked on the end plate 2 according to a preset path, and the end plate 2 is provided with a stacking positioning device 1 for limiting. Along with the stacking, the heights of the electric pile and the materials are always changed, in order to ensure that the stacking process is normally carried out, the suction disc 6 is required to be stopped at different positions along with the change of the heights of the electric pile and the materials, and a reasonable distance between the suction disc 6 and the materials and between the suction disc 6 and the electric pile can be ensured, so that the safe and accurate material taking and discharging of each time can be ensured within the distance 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, meanwhile, because the membrane electrode assembly 4 is lighter, the membrane electrode assembly 4 can fly in the air in the placing process due to the too large distance, and the stacking precision is affected to cause unqualified pile quality; if the distance is too small, there is a risk that the suction cup 6 collides with the parts and the pile. As shown in fig. 3, the conventional material taking process is as follows: firstly, an initial height, namely an initial position and a material height, is set, and an absorption space is reserved between the initial position and the material height, wherein the absorption space can ensure the absorption range of the material which can be effectively absorbed by the sucker 6. The manipulator 8 stops to the initial position when getting the material for the first time, absorbs the material through sucking disc 6, and the manipulator 8 moves a slice of material thickness's distance more than the first time when absorbing the second piece after the blowing is accomplished and guarantees to absorb the material smoothly, and so on until the material stacks up. As shown in fig. 4, the existing discharging process is as follows: firstly, setting the initial height of the material, namely the initial position of the material, when the first piece of material is placed, the sucker 6 sucks the material to the initial position, stops and puts down the material, then sucks the second piece of material, the sucker 6 moves to a distance which is higher than the initial position by one piece of material thickness, stops and puts down the material, and so on until the material stacking is completed, and meanwhile, manually monitoring whether the material falls down or not in the whole process of the material stacking. Therefore, since the initial position of the manipulator 8 when grabbing the materials and the initial position and the height of the materials when placing the materials are preset, in the actual stacking process, the system cannot eliminate the influence caused by the gap between the materials, the thickness difference of the materials and the flatness difference, so that after the materials are taken and discharged for many times, the error becomes large, and the materials are collided or can not be successfully sucked.
In this embodiment, before the material is sucked, the manipulator 8 is controlled to reach the first designated position, for example, the first designated position may be right above the material frame, so that the sucker 6 sucks the material, after the manipulator 8 reaches the material frame, the manipulator 8 is controlled to move according to the predetermined path by acquiring the first distance between the sucker 6 and the material in real time and according to the comparison result of the first distance and the first threshold value, so that the first distance between the sucker 6 and the material can be always ensured to be an accurate distance, and thus the problem that after the material is repeatedly taken and discharged due to the gap between the materials, the thickness difference and the flatness difference of the material, the material is collided or the material cannot be successfully sucked due to the fact that the error becomes large is avoided. 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. Thus, when the first distance reaches the first threshold, the manipulator 8 is controlled to stop moving and the sucker 6 is controlled to suck the target material, and the target material is moved to the second designated position by the manipulator 8 according to the preset path. When the control sucker 6 reaches the second designated position, the control manipulator 8 stops moving, and the control manipulator 8 retreats by the second distance, and meanwhile, the current position information of the manipulator 8 is recorded, for example, the coordinates of the current position of the manipulator 8 are calibrated according to the second designated position and the second distance, and the second designated position is updated according to the current position of the manipulator 8, so that when the manipulator 8 is placing the next piece of material, the manipulator 8 is directly controlled to move to the updated second designated position, and the like, so that the safe and accurate material sucking and placing in the stacking process can be ensured. 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 lowering distance of the manipulator 8 during the first discharging is preset according to the position of the end plate 2; the position may be obtained in real time, for example, the position between the suction cup 6 and the end plate 2 is obtained in real time by the manipulator 8 during the descent process, or the vertical distance between a certain point on the manipulator 8 and the workbench or the end plate 2 is obtained 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 acquired 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 designated 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 material in transmission or cannot successfully take the materials is avoided; meanwhile, after the material taking mechanism places the material to the appointed position, the material taking device is controlled to reversely move by a second distance according to the real-time distance between the material taking device and the target material, and the appointed position when the material is placed next time is updated by the current position, so that the material taking device is always positioned at the optimal distance for placing the material when the material is placed.
In order to further eliminate the influence caused by the difference between the materials, in a specific embodiment of the present embodiment, the controlling the material taking mechanism to move a second distance in a direction away from the target material includes:
And during the process of controlling the material taking mechanism to move in the direction 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 sucking disc 6 can not send the collision with the material that has already piled up when placing the material, also can not make the material drift in the air yet.
In order to facilitate calculation and ensure accuracy of distance detection, the first distance and the second distance in this embodiment are both distances between the suction cup 6 and the target material in the vertical direction.
In a specific example of this embodiment, the method further includes: in the process of moving the target material by the material taking mechanism, 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 greater 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, the material is indicated to fall, and the manipulator 8 is immediately controlled to stop moving, so as to avoid accidents, wherein the distance sensor 7 may be an infrared sensor.
In another specific example of this embodiment, the method further includes: 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. For example, whether the material can be detected at the effective distance is detected in real time through the object detection sensor, and if the material cannot be detected, the material is indicated to fall. The object detection sensor can be an infrared sensor, and the infrared sensor is used for sending infrared rays to detect materials so as to judge whether the state of the materials is in a state of being absorbed by the 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 the taking position of the bipolar plate 3 or the taking position of the membrane electrode assembly 4. The stack of the fuel cell is composed of a plurality of unit cells, each unit cell is composed of a bipolar plate, a membrane electrode assembly and a bipolar plate, therefore, in the stacking process of the stack, the bipolar plate 3 and the membrane electrode assembly 4 are required to be absorbed alternately in sequence, then the material taking mechanism is controlled to move a second distance in a direction 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 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 stacking of the galvanic pile is started, the manipulator 8 is controlled to drive the sucker 6 to reach a first designated position, namely, after the sucker 6 reaches the position right above the material frame of the bipolar plate 3, the manipulator 8 is further controlled to vertically descend, in the descending process, the infrared sensor detects a first distance between the sucker 6 and the bipolar plate 3 in real time through infrared rays 9 emitted by the infrared sensor, when the first distance reaches a first threshold value, the manipulator 8 is controlled to stop moving, and meanwhile, the sucker 6 starts to suck the bipolar plate 3 and moves the bipolar plate 3 to the position above the end plate 2 according to a preset path and controls the manipulator 8 to descend, as shown in fig. 7, when the sucker 6 reaches a second designated position, namely, after the initial height of the material is discharged, the manipulator 8 is controlled to stop moving, and the sucker 6 releases the bipolar plate 3, wherein the initial height of the material is determined by presetting the descending distance of the manipulator 8, for example, the initial height of the material is set and the preset path of the movement of the manipulator 8 are set, when the material is discharged, the preset path of the manipulator 8 is that the manipulator 8 sucks the previous material, and the sucker 3 moves to the preset path of the bipolar plate 2 according to the preset path, and then the sucker 6 moves to the second designated position and moves to the position right after the initial height is set to the initial height of the material and the bipolar plate is vertically moved to the end plate. That is, in the case where the position of the robot 8 above the material frame is determined in the preset path, the descent 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. As shown in fig. 8, after the suction cup 6 completely releases the bipolar plate 3, the robot 8 is controlled to move upward a second distance, the current position of the suction cup 6 is recorded, and the second designated position is updated with the position. And then, controlling the manipulator 8 to move to the upper part of the material frame of the membrane electrode assembly 4 according to a preset path, controlling the manipulator 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 manipulator 8 to stop moving when the first distance reaches a first threshold value, simultaneously controlling the sucker 6 to start sucking the membrane electrode assembly 4 and moving the membrane electrode assembly 4 to the upper part of the end plate 2 according to the preset path and controlling the manipulator 8 to descend, controlling the manipulator 8 to stop moving when the sucker 6 reaches a updated second designated position, controlling the manipulator 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 and updating the second designated position with the position, and the like until stacking of a galvanic pile is completed.
As shown in fig. 9, in a second aspect of the present invention, there is provided a stack material stack control device including:
the first control module is configured to control the material taking mechanism to reach a first designated position and then acquire a first distance between the material taking mechanism and the 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 the comparison result of the first distance and the first threshold value;
And the third control module is configured to control the material taking mechanism to move a second distance in a 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 handling mechanism comprising:
A suction cup 6 for sucking a target material;
the distance sensor 7 is arranged on the sucker 6 and is used for detecting the distance between the sucker 6 and the target material, wherein the distance sensor 7 can be an infrared sensor which can simultaneously realize the distance detection between the sucker 6 and the target material and the object detection on the target material;
The manipulator 8 is used for driving the sucker 6 to move;
The stack material stacking control system comprises a processor, a memory and computer program instructions stored in the memory, wherein the computer program instructions realize the stack material stacking control method when executed by the processor.
To sum up, this embodiment has effectually eliminated the influence that the clearance difference between the material that thickness difference and the roughness of material led to between the material brought, can accurate detection sucking disc and material and the distance of pile, simultaneously, can on-line measuring material whether drop, if the material drops then automatic shutdown operation, uses manpower sparingly reduces the stacking error.
The alternative embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the embodiments of the present invention within the scope of the technical concept of the embodiments of the present invention, and all the simple modifications belong to the protection scope of the embodiments of the present invention.
In addition, the specific features described in the above embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the various possible combinations of embodiments of the invention are not described in detail.
In addition, any combination of the various embodiments of the present invention may be made, so long as it does not deviate from the idea of the embodiments of the present invention, and it should also be regarded as the disclosure of the embodiments of the present invention.
Claims (8)
1. A stack material stack control method, comprising:
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 obtained in real time;
Determining that the first distance reaches a first threshold value, controlling the material taking mechanism to stop moving, controlling the material taking mechanism to take the target material, moving the target material to a second designated position and placing the target material;
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 taking mechanism;
Controlling the material handling mechanism to move a second distance in a direction away from the target material, comprising:
And during the process of controlling the material taking mechanism to move in the direction 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.
2. The stack material stacking control method according to claim 1, wherein the first distance and the second distance are both distances between the material taking mechanism and the target material in a vertical direction.
3. The stack material stacking control method of claim 1, further comprising:
and in the process of moving the target material by the material taking mechanism, if the distance between the target material and the material taking mechanism is larger than a second threshold value, controlling the material taking mechanism to stop moving.
4. The stack material stacking control method of claim 1, further comprising:
And detecting the state of the target material in real time in the process that the material taking mechanism moves the target material, 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.
5. The stack material stacking 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 picking position of the bipolar plate or a picking position of the membrane electrode assembly.
6. The stack material stacking control method according to claim 5, wherein 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 a current position of the material taking mechanism, the method further comprises:
and controlling the material taking mechanism to reach the taking position of the bipolar plate or the membrane electrode assembly.
7. A stack material stack control device, comprising:
The first control module is configured to control the material taking mechanism to reach a first designated position and then acquire a first distance between the material taking mechanism and a target material in real time;
The second control module is configured to determine that the first distance reaches a first threshold value, control the material taking mechanism to stop moving, control the material taking mechanism to take the target material, move the target material to a second designated position and place the target material;
the third control module is configured to control the material taking mechanism to move a second distance in a direction away from the target material, and update the second designated position according to the current position of the material taking mechanism;
Controlling the material handling mechanism to move a second distance in a direction away from the target material, comprising:
And during the process of controlling the material taking mechanism to move in the direction 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.
8. A material handling mechanism, comprising:
The sucker is used for sucking target materials;
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, which when executed by the processor, implement the stack material stack control method of any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011549219.9A CN114671256B (en) | 2020-12-24 | 2020-12-24 | Pile material stacking control method and device and material taking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011549219.9A CN114671256B (en) | 2020-12-24 | 2020-12-24 | Pile material stacking control method and device and material taking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114671256A CN114671256A (en) | 2022-06-28 |
| CN114671256B true CN114671256B (en) | 2024-05-24 |
Family
ID=82071051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011549219.9A Active CN114671256B (en) | 2020-12-24 | 2020-12-24 | Pile material stacking control method and device and material taking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114671256B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1329562A (en) * | 1998-10-22 | 2002-01-02 | Abb股份有限公司 | Method for handling containers and means to carry out method for selecting desired position on stacking target |
| JP2007200062A (en) * | 2006-01-27 | 2007-08-09 | Murata Mach Ltd | Controller for movable body |
| JP2009034813A (en) * | 2007-07-09 | 2009-02-19 | Kao Corp | Manipulator system |
| WO2010003289A1 (en) * | 2008-07-11 | 2010-01-14 | 中国科学院沈阳自动化研究所 | Apparatus and method for robots tracking appointed path with high precision |
| WO2019037013A1 (en) * | 2017-08-24 | 2019-02-28 | 深圳蓝胖子机器人有限公司 | Method for stacking goods by means of robot and robot |
| CN110255234A (en) * | 2019-08-01 | 2019-09-20 | 广州盛原成自动化科技有限公司 | It is a kind of to survey high grabbing device and grasping means |
| CN210025332U (en) * | 2019-05-31 | 2020-02-07 | 南京工程学院 | High-precision feeding manipulator capable of measuring distance and taking materials |
| CN110963298A (en) * | 2019-12-21 | 2020-04-07 | 深圳市华成工业控制有限公司 | Material taking device and method based on visual following |
| CN111558948A (en) * | 2019-09-18 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Square aluminum shell power battery manipulator |
| CN111993403A (en) * | 2018-04-26 | 2020-11-27 | 阜阳盛东智能制造技术研发有限公司 | Control method of manipulator with material taking and stacking functions |
-
2020
- 2020-12-24 CN CN202011549219.9A patent/CN114671256B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1329562A (en) * | 1998-10-22 | 2002-01-02 | Abb股份有限公司 | Method for handling containers and means to carry out method for selecting desired position on stacking target |
| US6648156B1 (en) * | 1998-10-22 | 2003-11-18 | Abb Ab | Method for handling containers and a means to carry out a method for selecting a desired position on a stacking target |
| JP2007200062A (en) * | 2006-01-27 | 2007-08-09 | Murata Mach Ltd | Controller for movable body |
| JP2009034813A (en) * | 2007-07-09 | 2009-02-19 | Kao Corp | Manipulator system |
| WO2010003289A1 (en) * | 2008-07-11 | 2010-01-14 | 中国科学院沈阳自动化研究所 | Apparatus and method for robots tracking appointed path with high precision |
| WO2019037013A1 (en) * | 2017-08-24 | 2019-02-28 | 深圳蓝胖子机器人有限公司 | Method for stacking goods by means of robot and robot |
| CN111993403A (en) * | 2018-04-26 | 2020-11-27 | 阜阳盛东智能制造技术研发有限公司 | Control method of manipulator with material taking and stacking functions |
| CN210025332U (en) * | 2019-05-31 | 2020-02-07 | 南京工程学院 | High-precision feeding manipulator capable of measuring distance and taking materials |
| CN110255234A (en) * | 2019-08-01 | 2019-09-20 | 广州盛原成自动化科技有限公司 | It is a kind of to survey high grabbing device and grasping means |
| CN111558948A (en) * | 2019-09-18 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Square aluminum shell power battery manipulator |
| CN110963298A (en) * | 2019-12-21 | 2020-04-07 | 深圳市华成工业控制有限公司 | Material taking device and method based on visual following |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114671256A (en) | 2022-06-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109712924B (en) | Automatic test equipment for infrared focal plane array chip | |
| CN114671256B (en) | Pile material stacking control method and device and material taking mechanism | |
| US10414050B2 (en) | Automated assembly method using automated assembly apparatus | |
| CN110137123A (en) | Wafer handling equipment and wafer baiting method | |
| JP6237362B2 (en) | Sheet stacking device | |
| CN105510357A (en) | Smart chip defect inspection machine | |
| CN109335531B (en) | Material taking and discharging method for shuttle vehicle | |
| US10926960B2 (en) | Overhead conveyance vehicle | |
| JPS61145001A (en) | Control for elevation carriage of crane for receiving and delivery | |
| CN116354121A (en) | Slide glass detection method suitable for automatic feeding device | |
| US6870622B2 (en) | Method and device for monitoring electric components in a pick-and-place device for substrates | |
| CN216037293U (en) | Loading and unloading device and laser resistance trimming machine | |
| CN213903557U (en) | Blood coagulation inhibition test carrier positioning mechanism and blood coagulation inhibition test equipment thereof | |
| CN106643855A (en) | Method of detecting whether tray is placed at edge | |
| JP3873042B2 (en) | Disc ejecting apparatus and method | |
| CN114275712A (en) | Stacking device and stacking method | |
| CN112722736A (en) | U-rib stacker-reclaimer | |
| CN221434036U (en) | Battery cell sorting device and battery cell production line | |
| CN111473732A (en) | Motor long and short shaft automatic identification system, cover riveting machine and automatic identification method | |
| CN219906888U (en) | Tray identification positioning mechanism and forklift | |
| CN117718715B (en) | Storage device, battery assembly system, control method and battery production system | |
| JPH06112691A (en) | Installing apparatus for component | |
| CN220316552U (en) | Online testing device for electrical performance | |
| CN218646246U (en) | Automatic detection device for transformer silicon steel sheet lamination | |
| CN213771163U (en) | Battery transfer equipment and lifting positioning device thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |