A kind of plate assembly grabbing manipulator and automatic stacking equipment of alkaline electrolytic cell

Abstract

The application relates to a polar plate assembly grabbing manipulator and an automatic stacking equipment for alkaline electrolytic cells. The application comprises a polar plate assembly grabbing manipulator, a feeding platform comprising a feeding X-axis driving module and a polar plate positioning tool driven to move along the X-axis through the feeding X-axis driving module, and the polar plate positioning tool is provided with a polar plate assembly for being grabbed by the polar plate assembly grabbing manipulator; a manipulator driving mechanism comprising a truss, a truss X-axis driving module, a Z-axis driving module and a Y-axis driving module; the truss X-axis driving module is used for driving the truss to move along the X-axis; the Z-axis driving module is used for driving the polar plate assembly grabbing manipulator to move along the Z-axis; the Y-axis driving module is installed on the truss and connected with the Z-axis driving module, and is used for driving the Z-axis driving module to move along the Y-axis; and a stacking lifting platform is connected with the polar plate assembly grabbing manipulator, so that the stacking of the alkaline electrolytic cells is realized through the polar plate assembly grabbing manipulator. The application improves the efficiency of the electrolytic cell stacking.

Description

Technical Field

[0001] This invention relates to the field of water electrolysis for hydrogen production technology, and in particular to a robotic arm for gripping electrode components and an automatic stacking device for alkaline electrolyzers. Background Technology

[0002] In the process of hydrogen production through water electrolysis, the alkaline electrolyzer is one of the key components, and the stacking of electrolyzers is a challenge in its assembly. Before stacking, components such as bipolar plates, cathode catalysts, anode catalysts, membranes, and gaskets are typically stacked and assembled into a single unit. These alkaline electrolyzer components are then stacked one by one to form a complete alkaline electrolyzer. However, due to the large size and weight of the bipolar plates, traditional manual stacking methods are inefficient, require significant manpower, and carry a high risk of injury. Furthermore, ensuring stacking precision during manual stacking is difficult, leading to inconsistent stacking quality. Summary of the Invention

[0003] To address this, the present invention provides a robotic arm for gripping electrode components and an automatic stacking device for alkaline electrolytic cells. By automating the gripping, positioning, and stacking of electrode components, the invention significantly improves the efficiency of electrolytic cell stacking, avoids the inefficiency of traditional manual stacking methods, greatly reduces manpower input, and improves overall production efficiency.

[0004] To solve the above technical problems, the present invention provides a electrode assembly gripping robot, including a mounting frame, wherein the mounting frame is provided with: The suction mechanism includes an electromagnet for attracting the upper surface of the electrode assembly; The positioning mechanism includes a positioning element for positioning and engaging the electrode assembly; The clamping mechanism includes a clamping element for clamping the upper end face of the electrode assembly; The fall arrestor includes a rotatable fall arrestor pawl that can hook onto the outer periphery of the electrode assembly when rotated.

[0005] In one embodiment of the present invention, the mounting frame has a ring-shaped structure, and a plurality of suction mechanisms, a plurality of positioning mechanisms and a plurality of fall protection mechanisms are distributed in a ring along the center of the mounting frame and are radially slidably connected to the mounting frame.

[0006] In one embodiment of the present invention, the mounting frame is provided with radial slide rails corresponding to the plurality of suction mechanisms, the plurality of positioning mechanisms and the plurality of anti-fall mechanisms. Each radial slide rail is evenly distributed along the circumference of the mounting frame. The plurality of suction mechanisms, the plurality of positioning mechanisms and the plurality of anti-fall mechanisms can slide to the same circumference through the corresponding radial slide rails. The plurality of clamping mechanisms are correspondingly arranged on the circumference located on the radial inner side of the radial slide rails.

[0007] In one embodiment of the present invention, the positioning mechanism includes a mounting base and a positioning cylinder mounted on the mounting base, and the positioning element includes a positioning pin connected to the telescopic end of the positioning cylinder to cooperate with a positioning hole provided in the circumferential direction of the electrode assembly. The clamping mechanism includes a cylinder connecting plate and a clamping cylinder mounted on the cylinder connecting plate, and the clamping component includes a clamping block connected to the driving end of the clamping cylinder.

[0008] In one embodiment of the present invention, the fall arrest mechanism includes a mounting base plate, a telescopic cylinder, and a support disposed on the mounting base plate. The mounting end and the telescopic end of the telescopic cylinder are respectively hinged to one end of the mounting base plate and one end of the fall arrest hook. The fall arrest hook is rotatably connected to the support, and the fall arrest hook includes an L-shaped hook portion.

[0009] The present invention also provides an automatic stacking device for alkaline electrolytic cells, including the aforementioned electrode assembly gripping robot, and further comprising: The loading platform includes a loading X-axis drive module and an electrode positioning fixture that is driven to move along the X-axis by the loading X-axis drive module. An electrode assembly for the electrode assembly gripping robot to grip is placed on the electrode positioning fixture. The robotic arm drive mechanism includes: truss; A truss X-axis drive module is used to drive the truss to move along the X-axis; Z-axis drive module, used to drive the electrode assembly gripping robot to move along the Z-axis; The Y-axis drive module is mounted on the truss and connected to the Z-axis drive module, and is used to drive the Z-axis drive module to move along the Y-axis. A stacking lifting platform is docked with the electrode assembly gripping robot to stack alkaline electrolytic cells via the electrode assembly gripping robot.

[0010] In one embodiment of the present invention, the truss X-axis drive module includes: Two parallel X-axis guide rails; X-axis rack, and the X-axis rack is provided on one side of each X-axis slide rail; X-axis slide plate, each of the X-axis slide rails is slidably connected to the X-axis slide plate; X-axis drive assembly, each of the X-axis slide plates is equipped with the X-axis drive assembly, the X-axis drive assembly includes an X-axis drive motor and an X-axis drive gear connected to the output end of the X-axis drive motor and meshing with the X-axis rack.

[0011] In one embodiment of the present invention, the Y-axis drive module includes: Y-axis slide rail, installed on the top of the truss; The Y-axis slide plate is slidably connected to the Y-axis slide rail; The Y-axis drive assembly is installed on the Y-axis slide plate. The Y-axis drive assembly includes a Y-axis drive motor, a Y-axis rack installed on the top of the truss, and a Y-axis drive gear connected to the output end of the Y-axis drive motor and meshing with the Y-axis rack. The Z-axis drive module includes: Single-stage telescopic Z-axis structure; A secondary telescopic Z-axis structure is telescopically connected within the primary telescopic Z-axis structure, and the bottom of the secondary telescopic Z-axis structure is connected to the middle of the mounting frame. A primary Z-axis slide rail is installed on the primary telescopic Z-axis structure, and the primary telescopic Z-axis structure is slidably connected to the Y-axis slide plate via the primary Z-axis slide rail. The primary Y-axis drive assembly includes a primary Z-axis rack mounted on the primary telescopic Z-axis structure, a primary Z-axis drive motor mounted on the Y-axis slide plate, and a primary Z-axis drive gear connected to the output end of the primary Z-axis drive motor and meshing with the primary Z-axis rack. A secondary Z-axis slide rail is installed on the secondary telescopic Z-axis structure, and the secondary telescopic Z-axis structure is slidably connected to the primary telescopic Z-axis structure through the secondary telescopic Z-axis structure. The secondary Y-axis drive assembly includes a secondary Z-axis rack mounted on the secondary telescopic Z-axis structure, a secondary Z-axis drive motor mounted on the bottom of the primary telescopic Z-axis structure, and a secondary Z-axis drive gear connected to the output end of the secondary Z-axis drive motor and meshing with the secondary Z-axis rack.

[0012] In one embodiment of the present invention, a floating guide structure is provided between the bottom of the secondary telescopic Z-axis structure and the middle part of the mounting frame, the floating guide structure comprising: A connecting flange plate is installed at the bottom of the secondary telescopic Z-axis structure; A floating plate is connected to the middle of the mounting frame; Guide sleeve, installed on the floating plate; The guide shaft is slidably connected to the guide sleeve and connected to the connecting flange plate; A spring is sleeved on the guide shaft and abuts against the connecting flange plate and the floating plate respectively.

[0013] In one embodiment of the present invention, the stacking lifting platform includes: Platform body; Multiple telescopic outriggers are connected to the platform body. Each telescopic outrigger includes a primary lifting frame, a secondary lifting frame, and a tertiary lifting frame with a rectangular structure. The primary lifting frame is installed on the ground and has a lifting cylinder installed inside. The secondary lifting frame is vertically telescopically connected to the primary lifting frame. The tertiary lifting frame is vertically telescopically connected to the secondary lifting frame. The drive end of the lifting cylinder is connected to the top of the tertiary lifting frame. The top of the tertiary lifting frame is equipped with a connecting frame connected to the platform body. Among them, two rows of first guide wheel sets are provided at the four corners of the upper part of the first-level lifting frame, and the two rows of first guide wheel sets are respectively in contact with the adjacent and perpendicular end faces of each corner of the second-level lifting frame. Two rows of second guide wheel sets are provided at each of the four corners of the upper part of the secondary lifting frame. The two rows of second guide wheel sets are in contact with the adjacent and perpendicular end faces of each corner of the tertiary lifting frame.

[0014] The technical solution of the present invention has the following advantages over the prior art: The present invention discloses a robotic arm for gripping electrode components and an automatic stacking device for alkaline electrolytic cells. By automating the gripping, positioning and stacking of electrode components, the efficiency of electrolytic cell stacking is significantly improved, avoiding the inefficiency of traditional manual stacking methods. This can greatly reduce manpower input and improve overall production efficiency.

[0015] The electrode assembly gripping robot integrates a suction mechanism, a positioning mechanism, a clamping mechanism, and a fall prevention mechanism. It uses an electromagnet for suction, the positioning mechanism ensures precise positioning of the assembly, the clamping mechanism prevents displacement of the assembly during handling, and the fall prevention mechanism effectively prevents the assembly from falling, ensuring the safety and stability of the stacking process and reducing possible component damage during operation. Attached Figure Description

[0016] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0017] Figure 1 This is a schematic diagram of the overall structure of the automatic stacking device for alkaline electrolytic cells of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the electrode plate assembly gripping robot of the present invention.

[0019] Figure 3 yes Figure 2 A partially enlarged structural diagram.

[0020] Figure 4 This is a schematic diagram of the positioning mechanism of the present invention.

[0021] Figure 5 This is a schematic diagram of the pressing mechanism of the present invention.

[0022] Figure 6 This is a schematic diagram of the fall protection mechanism of the present invention.

[0023] Figure 7 This is a schematic diagram of the structure of the vision camera of the present invention.

[0024] Figure 8 This is a schematic diagram of the material loading platform of the present invention.

[0025] Figure 9 This is a schematic diagram of the electrode plate positioning mechanism of the present invention.

[0026] Figure 10 This is a schematic diagram of the robotic arm drive mechanism of the present invention.

[0027] Figure 11 yes Figure 10 A partially enlarged structural diagram.

[0028] Figure 12 This is a schematic diagram of the truss X-axis drive module of the present invention.

[0029] Figure 13 This is a schematic diagram of the X-axis drive motor of the present invention.

[0030] Figure 14 This is a schematic diagram of the Z-axis drive module of the present invention.

[0031] Figure 15 This is a schematic diagram of the stacking lifting platform of the present invention.

[0032] Figure 16 This is a schematic diagram of the extended telescopic outrigger of the present invention.

[0033] Figure 17 This is a schematic diagram of the retractable outrigger structure of the present invention.

[0034] Explanation of reference numerals in the instruction manual: 100. Electrode plate assembly gripper; 11. Mounting frame; 12. Suction mechanism; 121. Electromagnet; 13. Positioning mechanism; 131. Positioning component; 132. Positioning cylinder; 14. Clamping mechanism; 141. Clamping component; 142. Clamping cylinder; 15. Fall protection mechanism; 151. Fall protection claw; 152. Mounting base plate; 153. Telescopic cylinder; 154. Support; 16. Radial slide rail; 17. Vision camera; 200. Feeding platform; 21. Electrode plate positioning fixture; 22. Positioning table; 23. Rotary cylinder; 24. Pressure plate; 25. Feeding X-axis drive module; 300. Robotic arm drive mechanism; 31. Truss; 32. Truss X-axis drive module; 321. X-axis slide rail; 322. X-axis rack; 323. X-axis slide plate; 324. X-axis drive motor; 325. X-axis drive gear; 33. Z-axis drive module; 331. Primary telescopic Z-axis structure; 332. Secondary telescopic Z-axis structure; 333. Primary Z-axis slide rail; 334. Primary Y-axis drive assembly; 3341. Primary Z-axis rack; 3342. Primary Z-axis drive motor; 3 343. Primary Z-axis drive gear; 335. Secondary Z-axis slide rail; 3351. Secondary Z-axis rack; 3352. Secondary Y-axis drive assembly; 3353. Secondary Z-axis drive motor; 34. Y-axis drive module; 341. Y-axis slide rail; 342. Y-axis slide plate; 343. Y-axis drive motor; 344. Y-axis rack; 345. Y-axis drive gear; 35. Floating guide structure; 351. Connecting flange plate; 352. Floating plate; 353. Guide sleeve; 354. Guide shaft; 400. Stacking lifting platform; 40. Telescopic outriggers; 41. Platform body; 42. Primary lifting frame; 43. Secondary lifting frame; 44. Tertiary lifting frame; 45. Lifting cylinder; 46. Connecting frame. Detailed Implementation

[0035] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0036] In this invention, when directions (up, down, left, right, front, and back) are described, it is only for the convenience of describing the technical solution of this invention, and does not indicate or imply that the technical features referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0037] In this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number; "above," "below," "within," etc., are understood to include the stated number. In the description of this invention, the terms "first" and "second" are used only to distinguish technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0038] In this invention, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; a fixed connection, a detachable connection, or an integrally formed connection; a mechanical connection, an electrical connection, or a connection capable of mutual communication; or the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this invention based on the specific content of the technical solution.

[0039] Reference Figure 1 As shown, an automatic stacking device for alkaline electrolytic cells according to an embodiment of the present invention includes: 100 electrode plate assembly gripping robot; The loading platform 200 includes a loading X-axis drive module 25 and an electrode plate positioning fixture 21 that is driven to move along the X-axis by the loading X-axis drive module 25. An electrode plate assembly is placed on the electrode plate positioning fixture 21 for the electrode plate assembly gripping robot 100 to grip. The robotic arm drive mechanism 300 includes: a truss 31, a truss X-axis drive module 32, a Z-axis drive module 33, and a Y-axis drive module 34; the truss X-axis drive module 32 is used to drive the truss 31 to move along the X-axis; the Z-axis drive module 33 is used to drive the electrode assembly gripping robotic arm 100 to move along the Z-axis; the Y-axis drive module 34 is mounted on the truss 31 and connected to the Z-axis drive module 33, and is used to drive the Z-axis drive module 33 to move along the Y-axis; The stacking lifting platform 400 is docked with the electrode assembly gripping robot 100 to stack alkaline electrolytic cells via the electrode assembly gripping robot 100.

[0040] With the above setup, during equipment operation, the diaphragm, gasket, cathode catalyst, anode catalyst, and electrode plates are assembled into electrode plate assemblies on the feeding platform 200. Then, the electrode plate positioning fixture 21 moves to the gripping station, awaiting gripping by the electrode plate assembly gripping robot 100. The electrode plate assembly gripping robot 100, driven by the robot drive mechanism 300, grips the electrode plate assembly and then moves it to the stacking point on the stacking lifting platform 400 to complete the stacking work. By continuously repeating the above actions, the automatic stacking of the alkaline electrolyzer is finally completed, replacing manual labor and improving stacking efficiency.

[0041] By driving the electrode plate positioning fixture 21 along the X-axis via the feeding X-axis drive module 25, precise positioning and rapid gripping can be achieved, effectively improving the level of automation. The robot arm drive mechanism 300 can achieve flexible motion control in multiple axes. This multi-axis control structure makes the robot arm's movement in different directions more precise and efficient, ensuring that the electrode plate assembly can be accurately aligned and quickly completed during the stacking process, greatly improving the stacking speed and quality, and reducing operational errors.

[0042] In one embodiment, refer to Figure 9 As shown, the electrode positioning fixture 21 includes a positioning platform 22 for placing the electrode assembly and a plurality of rotary cylinders 23 distributed around the positioning platform 22, and a pressure plate 24 is installed on the drive end of each rotary cylinder 23.

[0043] The positioning table 22 is provided with a positioning groove that matches the shape of the electrode assembly; in addition, since the electrode assembly has a positioning hole at its peripheral end, a positioning shaft that mates with the positioning hole can be provided on the positioning groove.

[0044] In one embodiment, refer to Figure 2 As shown, the electrode assembly gripping robot 100 includes a mounting frame 11, on which: The suction mechanism 12 includes an electromagnet 121 for attracting the upper surface of the electrode assembly; Positioning mechanism 13 includes positioning element 131 for positioning and engaging the electrode assembly; The clamping mechanism 14 includes a clamping member 141 for clamping the upper end face of the electrode assembly; The fall arrestor 15 includes a rotatable fall arrestor hook 151, which can hook onto the outer periphery of the electrode assembly when rotated.

[0045] With the above settings, after the electromagnet 121 picks up the electrode assembly, the positioning mechanism 13 positions the electrode assembly; after the electrode assembly is picked up, the pressing mechanism 14 presses the electrode assembly to prevent displacement of the electrode assembly during transportation; after the electrode assembly is picked up and positioned, the anti-fall mechanism 15 can prevent the electrode assembly from falling and prevent damage to the equipment and electrode plate caused by falling during transportation.

[0046] Specifically, the mounting frame 11 has a ring-shaped structure, and the plurality of suction mechanisms 12, the plurality of positioning mechanisms 13 and the plurality of fall protection mechanisms 15 are distributed in a ring along the center of the mounting frame 11 and are radially slidably connected to the mounting frame 11.

[0047] Specifically, the mounting frame 11 is provided with radial slide rails 16 corresponding to the plurality of suction mechanisms 12, the plurality of positioning mechanisms 13 and the plurality of anti-fall mechanisms 15 respectively. Each radial slide rail 16 is evenly distributed around the circumference of the mounting frame 11. The plurality of suction mechanisms 12, the plurality of positioning mechanisms 13 and the plurality of anti-fall mechanisms 15 can slide onto the same circumference through the corresponding radial slide rails 16. The plurality of clamping mechanisms 14 are respectively arranged on the circumference located on the radial inner side of the radial slide rails 16.

[0048] The ring-shaped mounting frame 11 allows multiple suction mechanisms 12, positioning mechanisms 13, and anti-fall mechanisms 15 to be distributed along the central ring and slide radially, adapting to electrode assemblies of different (radial) sizes. This layout improves the space utilization of the equipment, ensures uniform distribution of clamping and suction forces, prevents loosening or displacement of components during stacking that could affect stacking quality, improves the stability of stacking operations, and enhances operational efficiency and positioning accuracy.

[0049] Specifically, refer to Figure 7 As shown, a vision camera 17 is also slidably connected to the mounting frame 11 and connected to the vision inspection system. After the electrode assembly is picked up and moved to the stacking point by the robot arm of the gantry 31, the electrode assembly is stacked layer by layer. During the stacking process, the electrode assembly can be accurately stacked by the vision inspection method, ensuring the stacking quality of each group of electrode assemblies.

[0050] In one embodiment, refer to Figure 4 As shown, the positioning mechanism 13 includes a mounting base and a positioning cylinder 132 mounted on the mounting base. The positioning component 131 includes a positioning pin connected to the telescopic end of the positioning cylinder 132 to cooperate with a positioning hole provided in the circumference of the electrode assembly. The telescopic movement of the positioning cylinder 132 realizes the telescopic movement of the positioning pin to accurately position the electrode assembly.

[0051] Reference Figure 5 As shown, the clamping mechanism 14 includes a cylinder connecting plate and a clamping cylinder 142 mounted on the cylinder connecting plate. The clamping member 141 includes a clamping block connected to the driving end of the clamping cylinder 142. The clamping block is disc-shaped, and the clamping block is driven by the extension of the clamping cylinder 142 to clamp the electrode assembly.

[0052] Reference Figure 6As shown, the fall arrest mechanism 15 includes a mounting base plate 152, a telescopic cylinder 153, and a support 154 mounted on the mounting base plate 152. The mounting end and telescopic end of the telescopic cylinder 153 are respectively hinged to the mounting base plate 152 and one end of the fall arrest hook 151. The fall arrest hook 151 is rotatably connected to the support 154 and includes an L-shaped hook. The opening and closing of the fall arrest hook 151 is achieved by the extension and retraction of the telescopic cylinder 153, thereby realizing the fall arrest function.

[0053] In one embodiment, refer to Figure 10 As shown, the truss X-axis drive module 32 includes: two parallel X-axis slide rails 321, an X-axis rack 322, an X-axis slide plate 323, and an X-axis drive assembly; wherein, the X-axis rack 322 is provided on one side of each X-axis slide rail 321; the X-axis slide plate 323 is slidably connected to each X-axis slide rail 321; the X-axis drive assembly is mounted on each X-axis slide plate 323, and the X-axis drive assembly includes an X-axis drive motor 324 and an X-axis drive gear 325 connected to the output end of the X-axis drive motor 324 and meshing with the X-axis rack 322.

[0054] In one embodiment, refer to Figure 8 As shown, the feeding X-axis drive module 25 and the truss X-axis drive module 32 adopt the same structure, and two pole plate positioning fixtures 21 are provided on the truss X-axis drive module 32 to improve the feeding efficiency.

[0055] In one embodiment, refer to Figure 11 As shown, the Y-axis drive module 34 includes: a Y-axis slide rail 341, a Y-axis slide plate 342, and a Y-axis drive assembly; wherein, the Y-axis slide rail 341 is mounted on the top of the truss 31; the Y-axis slide plate 342 is slidably connected to the Y-axis slide rail 341; the Y-axis drive assembly is mounted on the Y-axis slide plate 342, and the Y-axis drive assembly includes a Y-axis drive motor 343, a Y-axis rack 344 mounted on the top of the truss 31, and a Y-axis drive gear 345 connected to the output end of the Y-axis drive motor 343 and meshing with the Y-axis rack 344.

[0056] Specifically, refer to Figure 14As shown, the Z-axis drive module 33 includes: a primary telescopic Z-axis structure 331, a secondary telescopic Z-axis structure 332, a primary Z-axis slide rail 333, a primary Y-axis drive assembly 334, a secondary Z-axis slide rail 335, and a secondary Y-axis drive assembly 3352; wherein, the secondary telescopic Z-axis structure 332 is telescopically connected within the primary telescopic Z-axis structure 331, and the bottom of the secondary telescopic Z-axis structure 332 is connected to the middle of the mounting frame 11; the primary Z-axis slide rail 333 is installed in the primary telescopic Z-axis structure 331, and the primary telescopic Z-axis structure 331 is slidably connected to the Y-axis slide rail 3352 via the primary Z-axis slide rail 333; the primary Y-axis drive assembly 334 includes a primary Z-axis rack 3341 installed in the primary telescopic Z-axis structure 331, and a secondary Z-axis slide rail 3352 installed in the secondary Y-axis slide rail 3352. The first-stage Z-axis drive motor 3342 of the slide plate 342 and the first-stage Z-axis drive gear 3343 connected to the output end of the first-stage Z-axis drive motor 3342 and meshing with the first-stage Z-axis rack 3341; the second-stage Z-axis slide rail 335 is installed on the second-stage telescopic Z-axis structure 332, and the second-stage telescopic Z-axis structure 332 is slidably connected to the first-stage telescopic Z-axis structure 331 through the second-stage telescopic Z-axis structure 332; the second-stage Y-axis drive assembly 3352 includes a second-stage Z-axis rack 3351 installed on the second-stage telescopic Z-axis structure 332, a second-stage Z-axis drive motor 3353 installed at the bottom of the first-stage telescopic Z-axis structure 331, and a second-stage Z-axis drive gear connected to the output end of the second-stage Z-axis drive motor 3353 and meshing with the second-stage Z-axis rack 3351.

[0057] In one embodiment, refer to Figure 3 As shown, a floating guide structure 35 is provided between the bottom of the secondary telescopic Z-axis structure 332 and the middle of the mounting frame 11. The floating guide structure 35 includes: a connecting flange plate 351, a floating plate 352, a guide sleeve 353, a guide shaft 354, and a spring. The connecting flange plate 351 is installed at the bottom of the secondary telescopic Z-axis structure 332; the floating plate 352 is connected to the middle of the mounting frame 11; the guide sleeve 353 is installed on the floating plate 352; the guide shaft 354 is slidably connected to the guide sleeve 353 and connected to the connecting flange plate 351; the spring is sleeved on the guide shaft 354 and abuts against the connecting flange plate 351 and the floating plate 352 respectively.

[0058] The combination of the two-stage telescopic Z-axis structure 332 and the floating guide structure 35 provides stable telescopic movement in the vertical direction, and achieves flexible guidance through the guide sleeve 353 and springs. This improves the movement stability of the robot in the Z-axis direction, reduces vibration and deviation, and ensures the smoothness and accuracy of the stacking process.

[0059] In one embodiment, refer to Figures 15 to 17As shown, the stacking lifting platform 400 includes: Platform body 41; Multiple telescopic outriggers 40 are connected to the platform body 41. Each telescopic outrigger 40 includes a primary lifting frame 42, a secondary lifting frame 43, and a tertiary lifting frame 44, all of which are rectangular in structure. The primary lifting frame 42 is installed on the ground and has a lifting cylinder 45 installed inside it. The secondary lifting frame 43 is vertically telescopically connected to the primary lifting frame 42. The tertiary lifting frame 44 is vertically telescopically connected to the secondary lifting frame 43. The drive end of the lifting cylinder 45 is connected to the top of the tertiary lifting frame 44. The top of the tertiary lifting frame 44 is equipped with a connecting frame 46 that is connected to the platform body 41. Two rows of first guide wheel sets are provided at each of the four corners of the upper part of the first-stage lifting frame 42. The two rows of first guide wheel sets are in contact with the adjacent and perpendicular end faces of each corner of the second-stage lifting frame 43.

[0060] Two rows of second guide wheel sets are provided at each of the four corners of the upper part of the secondary lifting frame 43. The two rows of second guide wheel sets are in contact with the adjacent and perpendicular end faces of each corner of the tertiary lifting frame 44.

[0061] Specifically, four telescopic outriggers 40 are provided and distributed circumferentially around the platform body 41, and a protective fence is arranged around the platform body 41. The lifting cylinder 45 drives the first-stage lifting frame 42, the second-stage lifting frame 43, and the third-stage lifting frame 44 to move up and down, thereby realizing the lifting of the platform body 41.

[0062] The stacking lifting platform 400, through the cooperation of multiple telescopic outriggers 40 and lifting cylinders 45, can achieve stable lifting of the platform body 41. When equipment malfunctions and manual operation is required, workers can operate the platform through the stacking lifting platform 400. The three-stage lifting frame 44 design allows the platform to adapt to stacking requirements of different heights. Furthermore, the guide wheel assembly ensures the smoothness and accuracy of the lifting process, guarantees vertical accuracy during stacking, and improves the overall stacking quality and efficiency.

[0063] The working process of the automatic stacking equipment for alkaline electrolytic cells is as follows: Assemble the various components required for the electrolytic cell (including bipolar plates, cathode catalyst, anode catalyst, diaphragm, and gaskets) into an electrode assembly and position it on the electrode positioning fixture 21. The X-axis drive module 25 on the loading platform 200 drives the electrode plate positioning fixture 21 to move along the X-axis to the gripping station, ready for the electrode plate assembly gripping robot 100 to grip. The electrode assembly gripping robot 100 is positioned at the gripping station and begins to grip the electrode assembly. The gripping robot's suction mechanism 12 (electromagnet 121) is activated to adsorb the upper surface of the electrode assembly, ensuring that the electrode assembly can be gripped stably. The positioning mechanism 13 of the gripping robot is activated, and the positioning component 131 cooperates with the positioning hole on the electrode assembly to ensure that the electrode assembly is accurately positioned on the robot. After positioning is completed, the clamping mechanism 14 is activated, and the clamping component 141 firmly clamps the upper end face of the electrode assembly to prevent displacement during transportation. During the handling process, the anti-fall mechanism 15 is activated, and the anti-fall hook 151 rotates to the appropriate position to hook the outer periphery of the electrode assembly, preventing the electrode assembly from falling accidentally during the handling process. The truss X-axis drive module 32, Y-axis drive module 34 and Z-axis drive module 33 of the robotic arm drive mechanism 300 drive the robotic arm to move along the X-axis, Y-axis and Z-axis directions respectively, and transport the gripped electrode assembly to the stacking point of the stacking lifting platform 400. After the robotic arm reaches the stacking point, the anti-fall mechanism 15 is released, and the electrode assembly is precisely placed at the predetermined position on the stacking lifting platform 400. After each layer of electrode assembly is stacked, the vision camera 17 and vision inspection system mounted on the robotic arm begin to work and perform real-time inspection of the stacked electrode assembly. The visual inspection system uses image processing algorithms to detect whether the alignment, interlayer distance, and overall position of stacked components meet preset standards. When equipment malfunctions and requires manual operation, workers can perform the operation via the stacking lifting platform 400.

[0064] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to examples, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A electrode assembly gripping robot for gripping electrode assemblies, characterized in that, Includes a mounting frame (11), on which are provided: The suction mechanism (12) includes an electromagnet (121) for attracting the upper surface of the electrode assembly. The positioning mechanism (13) includes a positioning element (131) for positioning and engaging the electrode assembly. The clamping mechanism (14) includes a clamping member (141) for clamping the upper end face of the electrode assembly. The fall arrest mechanism (15) includes a rotatable fall arrest hook (151) that can hook onto the outer periphery of the electrode assembly when rotated; The mounting frame (11) has a ring structure, and the multiple suction mechanisms (12), multiple positioning mechanisms (13) and multiple fall protection mechanisms (15) are distributed in a ring along the center of the mounting frame (11) and are radially slidably connected to the mounting frame (11). The mounting frame (11) is provided with radial slide rails (16) for each of the multiple suction mechanisms (12), multiple positioning mechanisms (13) and multiple anti-fall mechanisms (15). Each radial slide rail (16) is evenly distributed around the circumference of the mounting frame (11). The multiple suction mechanisms (12), multiple positioning mechanisms (13) and multiple anti-fall mechanisms (15) can slide onto the same circumference through the corresponding radial slide rails (16). The multiple clamping mechanisms (14) are correspondingly arranged on the circumference located on the radial inner side of the radial slide rails (16). The fall arrest mechanism (15) includes a mounting base plate (152), a telescopic cylinder (153), and a support (154) mounted on the mounting base plate (152). The mounting end and telescopic end of the telescopic cylinder (153) are respectively hinged to one end of the mounting base plate (152) and one end of the fall arrest hook (151). The fall arrest hook (151) is rotatably connected to the support (154). The fall arrest hook (151) includes an L-shaped hook.

2. The electrode plate assembly gripping robot according to claim 1, characterized in that, The positioning mechanism (13) includes a mounting base and a positioning cylinder (132) mounted on the mounting base. The positioning element (131) includes a positioning pin connected to the telescopic end of the positioning cylinder (132) to cooperate with a positioning hole provided in the circumferential direction of the electrode assembly. The clamping mechanism (14) includes a cylinder connecting plate and a clamping cylinder (142) mounted on the cylinder connecting plate. The clamping component (141) includes a clamping block connected to the driving end of the clamping cylinder (142).

3. An automatic stacking device for alkaline electrolytic cells, characterized in that, The electrode assembly gripping robot according to any one of claims 1-2 further includes: The loading platform (200) includes a loading X-axis drive module (25) and an electrode positioning fixture (21) that is driven to move along the X-axis by the loading X-axis drive module (25). The electrode positioning fixture (21) has an electrode assembly for the electrode assembly gripping robot (100) to grip. The robotic arm drive mechanism (300) includes: Truss (31); A truss X-axis drive module (32) is used to drive the truss (31) to move along the X-axis; Z-axis drive module (33) is used to drive the electrode assembly gripping robot (100) to move along the Z-axis; The Y-axis drive module (34) is mounted on the truss (31) and connected to the Z-axis drive module (33) for driving the Z-axis drive module (33) to move along the Y-axis. A stacking lifting platform (400) is docked with the electrode assembly gripping robot (100) to stack alkaline electrolytic cells via the electrode assembly gripping robot (100).

4. The automatic stacking equipment for alkaline electrolytic cells as described in claim 3, characterized in that, The truss X-axis drive module (32) includes: Two parallel X-axis slide rails (321); X-axis rack (322), and the X-axis slide rail (321) is provided on one side of the X-axis rack (322); X-axis slide plate (323), and each of the X-axis slide rails (321) is slidably connected to the X-axis slide plate (323). X-axis drive assembly, each of the X-axis slide plates (323) is equipped with the X-axis drive assembly, the X-axis drive assembly includes an X-axis drive motor (324) and an X-axis drive gear (325) connected to the output end of the X-axis drive motor (324) and meshing with the X-axis rack (322).

5. The automatic stacking equipment for alkaline electrolytic cells as described in claim 3, characterized in that, The Y-axis drive module (34) includes: Y-axis slide rail (341) is installed on the top of the truss (31); Y-axis slide plate (342) is slidably connected to the Y-axis slide rail (341); The Y-axis drive assembly is installed on the Y-axis slide plate (342). The Y-axis drive assembly includes a Y-axis drive motor (343), a Y-axis rack (344) installed on the top of the truss (31), and a Y-axis drive gear (345) connected to the output end of the Y-axis drive motor (343) and meshing with the Y-axis rack (344). The Z-axis drive module (33) includes: Single-stage telescopic Z-axis structure (331); The secondary telescopic Z-axis structure (332) is telescopically connected within the primary telescopic Z-axis structure (331), and the bottom of the secondary telescopic Z-axis structure (332) is connected to the middle of the mounting frame (11); A primary Z-axis slide rail (333) is installed on the primary telescopic Z-axis structure (331), and the primary telescopic Z-axis structure (331) is slidably connected to the Y-axis slide plate (342) through the primary Z-axis slide rail (333). The primary Y-axis drive assembly (334) includes a primary Z-axis rack (3341) mounted on the primary telescopic Z-axis structure (331), a primary Z-axis drive motor (3342) mounted on the Y-axis slide plate (342), and a primary Z-axis drive gear (3343) connected to the output end of the primary Z-axis drive motor (3342) and meshing with the primary Z-axis rack (3341). A secondary Z-axis slide rail (335) is installed on the secondary telescopic Z-axis structure (332), and the secondary telescopic Z-axis structure (332) is slidably connected to the primary telescopic Z-axis structure (331) through the secondary Z-axis slide rail (335). The secondary Y-axis drive assembly (3352) includes a secondary Z-axis rack (3351) mounted on the secondary telescopic Z-axis structure (332), a secondary Z-axis drive motor (3353) mounted on the bottom of the primary telescopic Z-axis structure (331), and a secondary Z-axis drive gear connected to the output end of the secondary Z-axis drive motor (3353) and meshing with the secondary Z-axis rack (3351).

6. The automatic stacking equipment for alkaline electrolytic cells as described in claim 5, characterized in that, A floating guide structure (35) is provided between the bottom of the secondary telescopic Z-axis structure (332) and the middle of the mounting frame (11), the floating guide structure (35) comprising: A connecting flange plate (351) is installed at the bottom of the secondary telescopic Z-axis structure (332); The floating plate (352) is connected to the middle of the mounting frame (11); Guide sleeve (353) is installed on the floating plate (352); The guide shaft (354) is slidably connected to the guide sleeve (353) and connected to the connecting flange plate (351); A spring is sleeved on the guide shaft (354) and abuts against the connecting flange plate (351) and the floating plate (352) respectively.

7. The automatic stacking equipment for alkaline electrolytic cells as described in claim 3, characterized in that, The stacking lifting platform (400) includes: Platform body (41); Multiple telescopic outriggers (40) are connected to the platform body (41). Each telescopic outrigger (40) includes a primary lifting frame (42), a secondary lifting frame (43), and a tertiary lifting frame (44) with a rectangular structure. The primary lifting frame (42) is installed on the ground and has a lifting cylinder (45) installed inside. The secondary lifting frame (43) is vertically telescopically connected to the primary lifting frame (42). The tertiary lifting frame (44) is vertically telescopically connected to the secondary lifting frame (43). The driving end of the lifting cylinder (45) is connected to the top of the tertiary lifting frame (44). The top of the tertiary lifting frame (44) is equipped with a connecting frame (46) connected to the platform body (41). Among them, two rows of first guide wheel sets are provided at the four corners of the upper part of the first-level lifting frame (42), and the two rows of first guide wheel sets are respectively in contact with the adjacent and perpendicular end faces of each corner of the second-level lifting frame (43); Two rows of second guide wheel sets are provided at the four corners of the upper part of the secondary lifting frame (43). The two rows of second guide wheel sets are in contact with the adjacent and perpendicular end faces of each corner of the tertiary lifting frame (44).

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