An orifice plate gripping mechanism for a fuel cell

Abstract

The application relates to a fuel cell hole plate type grabbing mechanism, which comprises a clamping mechanism, a suction disc mechanism and a pose correction mechanism fixed on the clamping mechanism, and a control system; the suction disc mechanism comprises a hole plate type suction disc, one side of the hole plate type suction disc is connected with a negative pressure generator for providing suction force, and the other side is distributed with a plurality of suction disc surface holes; the cavity of the hole plate type suction disc is divided into multiple areas from inside to outside, the gas inlet area of the outer layer area is larger than that of the core area, and the suction disc surface holes of the outer layer area are arranged as streamline holes with axis distribution along the airflow streamline. Compared with the prior art, the application adopts a large-format flat plate as the contact form with the bipolar plate, divides the cavity, arranges the suction holes, and arranges the suction disc surface outer ring holes with axis distribution along the airflow streamline, so that the influence of uneven suction force on the warping deformation of the surface morphology of the bipolar plate is reduced, and material displacement and shaking in the grabbing process are avoided.

Description

Technical Field

[0001] This invention relates to the field of fuel cell assembly technology, and in particular to a uniform suction perforated plate gripping mechanism for large-format fuel cell assembly. Background Technology

[0002] Fuel cells are a promising new power source. Based on the principle of an electrochemical device, a fuel cell can continuously generate electricity as long as reactants are continuously input and reaction products are continuously expelled. When hydrogen is used as fuel, the only byproduct is water. Compared to traditional energy sources, this method of power generation is cleaner. Large-format fuel cells can provide continuous and stable energy output for larger-scale applications, offering a reliable power source for large vehicles due to their high power and long continuous operating time. However, the assembly process of fuel cells remains a major technical challenge in the large-scale production of high-power stacks. The design of the gripping mechanism for bipolar plates and MEAs plays a crucial role in the high-precision assembly of fuel cells. The flatness of the bipolar plates or MEAs, their secure fixing, and the absence of vibration during the process all significantly affect visual positioning, ultimately impacting the stacking accuracy. The assembly process for larger and heavier large-format fuel cells places even higher demands on the gripping mechanism.

[0003] For example, patent CN 211605301 U discloses a gripping fixture for holding bipolar plates and membrane electrodes. The fixture comprises a main board, a suction plate, a first cover, a second cover, and a third cover. The suction plate is fixedly connected to the lower surface of the main board and has multiple through-holes spaced apart. Both ends of the main board and the suction plate have openings perpendicularly penetrating them. The positions of these two openings correspond to the positions of the QR codes on the bipolar plates and membrane electrodes, dividing the main board into a first plate, a second plate, and a third plate. Each of the first, second, and third plates has through holes. The lower surface of the second plate has multiple inwardly recessed grooves spaced apart. The first cover is fixedly mounted on the first plate and has a first air inlet. The second cover is fixedly mounted on the second plate and has a second air inlet. The third cover is fixedly mounted on the third plate and has a third air inlet. This utility model provides a gripping fixture for holding bipolar plates and membrane electrodes that improves the stacking accuracy and consistency of electrode stacks. The beneficial effect of this utility model is that it overcomes the problems of material swaying and low accuracy during secondary positioning when a multi-point vacuum suction cup picks up bipolar plates and MEAs. However, it is not yet applicable to the assembly of large-format fuel cells, cannot better solve the problem of uniform suction distribution when gripping bipolar plates and MEAs, and cannot guarantee the alignment of the plate flow channels, affecting the contact behavior in the subsequent pressing process, causing ohmic loss, decreased mass transfer capacity, and leakage of gas and coolant, thereby affecting reaction efficiency, battery performance, and durability. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a uniform suction orifice plate gripping mechanism for large-format fuel cell assembly, which can be achieved through the following technical solutions:

[0005] A perforated plate gripping mechanism for fuel cells, the mechanism including a clamping mechanism, a suction cup mechanism and a posture correction mechanism fixed on the clamping mechanism, and a control system;

[0006] The suction cup mechanism includes a perforated plate suction cup. One side of the perforated plate suction cup is connected to a negative pressure generator for providing suction, and the other side has a number of suction cup surface holes. The cavity of the perforated plate suction cup is divided into multiple regions from the inside to the outside. The air inlet area of ​​the outer region is larger than the air inlet area of ​​the core region, and the suction cup surface holes of the outer region are set as streamline holes with the axis distributed along the airflow streamline.

[0007] As a preferred technical solution, the clamping mechanism includes a clamping frame and a flange connector connected to the clamping frame. The flange connector is used to connect the clamping frame and the robot end effector. The flange connector includes a flange connecting plate, bolts, and a gasket, with the gasket disposed between the bolts and the flange connecting plate. A perforated plate suction cup is fixed on the clamping frame.

[0008] As a preferred technical solution, the internal cavity of the perforated plate suction cup is divided into three fluid regions by the outer partition and the inner partition of the suction cup. The perforated plate suction cup is connected to the negative pressure generator and is concentrically provided with a central circular air inlet and two annular air inlets with successively decreasing diameters. The air outlet cross-section on the side of the perforated plate suction cup opposite to the negative pressure generator is three rectangles with successively increasing dimensions.

[0009] As a preferred technical solution, the suction cup surface holes in the core area of ​​the perforated plate suction cup are configured as inner annular holes with the axis perpendicular to the bottom surface, and the suction cup surface holes in the outer layer area are configured as outer annular holes with the axis distributed along the airflow streamline.

[0010] As a preferred technical solution, the suction cup top plate and suction cup bottom plate of the perforated plate suction cup are provided with corresponding sealing strips and mounting strips around their perimeter.

[0011] As a preferred technical solution, the perforated plate gripping mechanism is further provided with a suction module mechanism for providing auxiliary suction to the bipolar plate and the edge area of ​​the MEA. The suction module mechanism is fixed on the clamping mechanism and includes multiple suction modules composed of a vacuum generator, a suction cup and a bracket.

[0012] As a preferred technical solution, the multiple sets of suction modules are respectively arranged on the sides and four corners of the clamping mechanism, and are centrally symmetrically distributed.

[0013] As a preferred technical solution, the posture correction mechanism includes a laser rangefinder, a vision detection module, and a sensor mounting bracket. The vision detection module includes a CCD camera and an image processing system. The laser rangefinder and the CCD camera are fixed to the clamp frame via the sensor mounting bracket. The laser rangefinder is used to obtain the distance between the current acquisition mechanism and the top of the bipolar plate or MEA stockpile and the battery stack, and feeds the data back to the control system. The CCD camera is used to capture the surface features of the bipolar plate and feeds the data back to the control system.

[0014] As a preferred technical solution, the sensor mounting bracket is provided with mounting holes that can adjust the vertical and horizontal positions of the laser rangefinder and the CCD camera.

[0015] As a preferred technical solution, the control system includes a PLC controller connected to the posture correction mechanism, which processes the data returned by the posture correction mechanism, compares the captured images and data with the ideal position of the bipolar plate, calculates the posture adjustment parameters of the bipolar plate, and feeds back the posture adjustment parameters to perform posture correction.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1) Consistent suction force: In this invention, the perforated plate suction cup uses a large-format flat plate as the contact form with the bipolar plate. It divides the fluid area into three layers by dividing the cavity and arranging the suction holes. The axis of the outer ring hole on the suction cup surface is distributed along the airflow streamline, which reduces the impact of uneven suction force on the surface morphology of the bipolar plate or damage to the MEA, and avoids material displacement and shaking during the gripping process.

[0018] 2) Simple structure and easy to use: The structure of this patent is lightweight and reasonable, making it easy to transport and assemble.

[0019] 3) High stacking accuracy: The design of the suction cup mechanism, suction module mechanism, and posture correction mechanism improves positioning accuracy while reducing the influence of size and deformation during the bipolar plate and MEA gripping process.

[0020] 4) Wide range of applications: Since this patent is designed for the assembly of large-format fuel cells, the perforated plate suction cup has a large area and the negative pressure can be adjusted. It is also suitable for the stacking of bipolar plates and MEAs of small and medium-format or other sizes.

[0021] 5) Easy to maintain: The structure of this patent is not complicated, making it easy to maintain and replace parts.

[0022] 6) High adaptability: The structure and accessories of this patent can be adjusted according to design requirements, adapting to the ever-changing environment at the beginning of the design; the control system can be adjusted and adapted according to different needs or environmental changes, and can quickly identify changes and make adjustments, with self-adaptability and learning ability.

[0023] 7) High stability and high reliability: Relying solely on the suction cup to grip the bipolar plate or MEA surface will cause the part without the suction cup in the middle to sag, while using the suction cup to grip the flow channel part is easy to slip off. The perforated plate type suction cup's tight multi-hole design and cavity design, as well as the suction modules on both sides, grip the flow channel structure and surface plane of the large-format bipolar plate, improving the stability of the gripping mechanism; the gripper frame design meets the rigidity requirements of the mechanism, further ensuring that the bipolar plate or MEA does not slip, thus improving the reliability of the gripping mechanism. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the first three-dimensional structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the second three-dimensional structure of the present invention;

[0026] Figure 3 This is a three-dimensional structural diagram of the perforated plate suction cup in this invention;

[0027] Figure 4 This is a schematic diagram of the perforated plate suction cup in the present invention from the front view direction;

[0028] Figure 5 This is a structural schematic diagram of the present invention from the main viewing direction;

[0029] In the diagram, 1 is the flange connector, 2 is the clamp frame, 3 is the angle bracket, 4 is the perforated plate suction cup, 5 is the right-angle connector, 6 is the negative pressure generator, 7 is the laser rangefinder, 8 is the CCD camera, 9 is the sensor mounting bracket, 10 is the suction module, 11 is the suction cup surface hole, 12 is the suction cup top plate, 13 is the suction cup outer partition, 14 is the suction cup inner partition, 15 is the suction cup bottom plate, 16 is the suction cup surface inner ring hole, and 17 is the suction cup surface outer ring hole. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0031] Example 1

[0032] A uniform suction perforated plate gripping mechanism for large-format fuel cell assembly, such as Figure 1As shown, it includes a flange side clamping mechanism, a suction cup mechanism, a suction module mechanism, a position correction mechanism, and a control system.

[0033] The flange-side clamping mechanism includes a flange connector 1, a gripper frame 2, and angle brackets 3 for connecting the aluminum profile frame. The flange connector 1 connects the gripper frame 2 to the robot end effector. The gripper frame 2 is fixed with a perforated suction cup 4, a laser rangefinder 7, a CCD camera 8, and a suction module 10. The flange connector 1 includes a flange connecting plate, bolts, and a gasket. The gasket is positioned between the bolts and the flange connecting plate. The flange connector 1 is mounted on the robot end effector. The gripper frame 2 is connected to the flange connector 1 via two parallel longitudinal aluminum profiles and bolts.

[0034] The clamp frame 2 consists of 10 aluminum profiles and 10 corner brackets 3. Two aluminum profiles are installed longitudinally and parallel to the flange connector 1 by bolts. Two aluminum profiles with 45° inclined ends serve as reinforcing ribs and are connected to the two aluminum profiles near the upper end of the flange connector 1 and the two longitudinal aluminum profiles by corner brackets, bolts, and nuts. The two longitudinal aluminum profiles are connected to the two aluminum profiles on the flange connector 1 by two corner brackets 3. Two transverse aluminum profiles are symmetrically installed on the two longitudinal aluminum profiles by four corner brackets located at the center of the two longitudinal aluminum profiles. Two longitudinal short aluminum profiles are symmetrically installed on the two transverse aluminum profiles by four corner brackets located at the center of the two transverse aluminum profiles, thus forming the clamp frame 2.

[0035] The perforated suction cup 4 is supplied with suction by a negative pressure generator 6 and is connected to it via a right-angle connector 5. For example... Figure 2 As shown, the bottom of the perforated suction cup has several holes 11 distributed on its surface to distribute the negative pressure airflow. Since the central area of ​​the perforated plate directly faces the negative pressure air source, without dividing the internal cavity, a larger negative pressure airflow will be generated in the central area, while a weaker airflow will be generated in the edge area. When suctioning thin sheet parts, this will cause the sheet to deform significantly or even be damaged in the contact area with the center of the suction cup perforated plate, while the suction force in the edge area will be weak. To further improve the uniformity of the negative pressure airflow distribution, the suction cup cavity is divided into three areas, and the air intake volume at the inlet is readjusted. For example... Figure 3 As shown, a smaller air inlet area is allocated to the core region, while a larger air inlet area is allocated to the outer layer region. Simultaneously, to reduce the airflow resistance of the perforated plate in the outer edge region, the outer ring holes at the bottom of the suction cup are designed as streamlined holes with their axes distributed along the CFD simulation streamlines.

[0036] like Figure 4As shown, the suction cup mechanism includes two sets of perforated plate suction cups 4 with sealing strips and mounting strips, a negative pressure generator 6, and a right-angle connector 5. The two sets of perforated plate suction cups 4 are longitudinally and symmetrically installed on the clamping frame 2 by bolts. The lateral distance between the two sets of perforated plate suction cups 4 can be adjusted according to the size of the large-format bipolar plate and MEA. The two negative pressure generators 6 are respectively connected to the two right-angle connectors 5. The right-angle connectors 5 are installed in the center of the perforated plate suction cups 4 and are installed laterally, facing outward. The internal cavity of the perforated suction cup 4 is divided into three fluid regions, corresponding to a central circular air inlet and two annular air inlets with progressively increasing diameters. The central circular air inlet and the inner annular air inlet are lower in height than the outer annular air inlet. The air outlet cross-section consists of three rectangles with progressively increasing dimensions. The suction cup top plate 12 and the suction cup bottom plate 13 are equipped with corresponding sealing strips and mounting strips around their perimeters. The suction cup cavity structure includes an outer suction cup partition 13, an inner suction cup partition 14, an inner annular hole 16 on the suction cup surface with its axis perpendicular to the bottom surface, and an outer annular hole 17 on the suction cup surface with its axis distributed along the airflow streamline.

[0037] like Figure 5 As shown, the suction module mechanism 10 is fixed to the clamp frame 2 by bolts, and is used to provide auxiliary suction for the bipolar plate and the edge area of ​​the MEA. The suction module mechanism includes 6 suction modules 10 consisting of a vacuum generator, suction cups and brackets. The 6 suction modules 10 are centrally symmetrically distributed. The two suction modules in the middle of the frame are installed horizontally and facing inwards; the four suction modules at the four corners of the frame are installed vertically and facing outwards.

[0038] The pose correction mechanism includes a laser rangefinder 7, a sensor mounting bracket, and a vision inspection module. The vision inspection module includes a CCD camera 8 and an image processing system. Two sets of pose correction mechanisms are located at opposite corners of the gripper frame. The laser rangefinder 7 and CCD camera 8 are bolted to the sensor mounting bracket 9, which is in turn bolted to the gripper frame 2. The slotted design on the sensor mounting bracket 9 allows adjustment of the vertical and horizontal positions of the laser rangefinder and CCD camera. In the pose correction mechanism, the laser rangefinder 7 obtains the distance between the current gripping mechanism and the bipolar plate or MEA stack and the top of the battery pack, and feeds the data back to the control system. The CCD camera 8 captures the surface features of the bipolar plate and feeds the data back to the control system. The sensor mounting bracket mainly consists of four components: three brackets with slotted holes and one right-angle connector.

[0039] The control system is a PLC controller, which is connected to the laser rangefinder and the vision inspection module respectively. It is used to process the data returned by the sensor, compare the captured images and data with the ideal position of the bipolar plate, calculate the bipolar plate pose adjustment parameters, and feed them back to the robot for pose correction.

[0040] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A perforated plate gripping mechanism for a fuel cell, characterized in that, The mechanism includes a clamping mechanism, a suction cup mechanism and a posture correction mechanism fixed on the clamping mechanism, and a control system; The suction cup mechanism includes a perforated plate suction cup (4), one side of which is connected to a negative pressure generator (6) for providing suction force, and the other side is provided with a number of suction cup surface holes (11); the cavity of the perforated plate suction cup (4) is divided into multiple regions from the inside to the outside, the air inlet area of ​​the outer region is larger than the air inlet area of ​​the core region, and the suction cup surface holes (11) of the outer region are set as streamline holes with the axis distributed along the airflow streamline; The internal cavity of the perforated suction cup (4) is divided into three fluid regions by the outer partition (13) and the inner partition (14). The perforated suction cup (4) is connected to the negative pressure generator (6) and is concentrically provided with a central circular air inlet and two annular air inlets with progressively larger diameters. The air outlet cross section on the side opposite to the negative pressure generator (6) of the perforated suction cup (4) is three rectangles with progressively larger dimensions. The posture correction mechanism includes a laser rangefinder (7), a vision detection module, and a sensor mounting bracket (9). The vision detection module includes a CCD camera (8) and an image processing system. The laser rangefinder (7) and the CCD camera (8) are fixed on the clamp frame (2) by the sensor mounting bracket (9). The laser rangefinder (7) is used to obtain the distance between the current acquisition mechanism and the top of the bipolar plate or MEA material pile and the battery stack, and feeds the data back to the control system. The CCD camera (8) is used to capture the surface features of the bipolar plate and feed the data back to the control system.

2. The perforated plate gripping mechanism for a fuel cell according to claim 1, characterized in that, The clamping mechanism includes a clamping frame (2) and a flange connector (1) connected to the clamping frame (2). The flange connector (1) is used to connect the clamping frame (2) and the robot end. The flange connector (1) includes a flange connecting plate, bolts and gaskets, with the gaskets disposed between the bolts and the flange connecting plate. A perforated suction cup (4) is fixed on the clamping frame (2).

3. The perforated plate gripping mechanism for a fuel cell according to claim 1, characterized in that, The suction cup surface holes (11) in the core region of the perforated suction cup (4) are configured as inner annular holes (16) with the axis perpendicular to the bottom surface, and the suction cup surface holes (11) in the outer region are configured as outer annular holes (17) with the axis distributed along the airflow streamline.

4. The perforated plate gripping mechanism for a fuel cell according to claim 1, characterized in that, The suction cup top plate (12) and suction cup bottom plate (15) of the perforated plate suction cup (4) are provided with corresponding sealing strips and mounting strips around their perimeter.

5. The perforated plate gripping mechanism for a fuel cell according to claim 1, characterized in that, The perforated plate gripping mechanism is also provided with a suction module mechanism for providing auxiliary suction to the bipolar plate and the edge area of ​​the MEA. The suction module mechanism is fixed on the clamping mechanism and includes multiple suction modules (10) composed of a vacuum generator, a suction cup and a bracket.

6. The perforated plate gripping mechanism for a fuel cell according to claim 5, characterized in that, The multiple sets of suction modules (10) are respectively arranged on the sides and four corners of the clamping mechanism and are centrally symmetrically distributed.

7. The perforated plate gripping mechanism for a fuel cell according to claim 1, characterized in that, The sensor mounting bracket (9) is provided with mounting holes that can adjust the vertical and horizontal positions of the laser rangefinder (7) and the CCD camera (8).

8. The perforated plate gripping mechanism for a fuel cell according to claim 1, characterized in that, The control system includes a PLC controller connected to the pose correction mechanism. It processes the data returned by the pose correction mechanism, compares the captured images and data with the ideal position of the bipolar plate, calculates the pose adjustment parameters of the bipolar plate, and feeds back the pose adjustment parameters to perform pose correction.

Images