Sucker jig
By using floating limit pins and sensors in the suction cup fixture, the problem of difficult to guarantee stacking accuracy in the prior art is solved, and high-speed stacking and cost reduction are achieved.
Patent Information
- Application Number
- CN202311196248.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-15
- Publication Date
- 2025-03-18
AI Technical Summary
In the existing fuel cell stacking technology, it is difficult for suction cup fixtures to accurately ensure the position accuracy of bipolar plates or membrane electrodes, resulting in slowing stacking speed, increasing costs and requiring a visual system to detect the misalignment.
The suction cup fixture that uses a combination of floating limit pins and sensors, the floating limit pin protrudes from the adsorption surface, defines the workpiece position by abutting against the side surface of the workpiece, and detects the sliding condition of the limit pin through the first sensor to ensure stacking accuracy.
It can ensure the accuracy of workpiece position without slowing down the process speed, improve the stacking speed by more than 40%, and reduce costs, avoid the need for visual system detection.
Smart Images
Figure CN119637495A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of fuel cell stack core stacking, and in particular to a suction cup fixture. Background Art
[0002] The battery stack is an important component of the fuel cell engine. When producing the battery stack, the bipolar plates and membrane electrodes need to be stacked on top of each other. Therefore, the stacking accuracy of the bipolar plates and membrane electrodes is crucial to the performance of the finished battery stack. At present, the stacking of the battery stack is achieved by a robot with a suction cup fixture. It is difficult for the suction cup fixture to accurately ensure the position accuracy of the bipolar plates or membrane electrodes during adsorption, transfer and discharge. The accuracy can only be ensured by slowing down the speed of adsorption, transfer and discharge. At the same time, a visual system needs to be installed after stacking to detect the stacking misalignment, which leads to high costs and greatly affects the stacking rhythm. Summary of the invention
[0003] The object of the present invention is to provide a suction cup fixture, which can ensure the position accuracy of the workpiece relative to the fixture through a floating limit pin, without slowing down the speed of each process to ensure accuracy, thereby increasing the stacking speed and reducing costs.
[0004] To achieve the above object, the present invention provides the following technical solutions:
[0005] The present invention provides a suction cup fixture, comprising a fixture body, a floating limit pin and a first sensor;
[0006] The fixture body has an adsorption surface, and the floating limit pin and the first sensor are installed on the fixture body;
[0007] The floating limit pin protrudes from the adsorption surface and the protruding length is greater than the thickness of the workpiece to be adsorbed. The floating limit pin protrudes from the side surface of the adsorption surface and is used to abut against the side surface of the workpiece to be adsorbed to limit the position of the workpiece to be adsorbed relative to the adsorption surface. The floating limit pin has a degree of freedom to slide perpendicular to the adsorption surface relative to the fixture body;
[0008] The first sensor is used to detect whether the floating limit pin slides relative to the fixture body.
[0009] Further, the floating limit pins are configured in plurality, and the plurality of floating limit pins cooperate together to limit the position of the workpiece to be sucked relative to the suction surface along the X direction and the Y direction, and the X direction is perpendicular to the Y direction and parallel to the suction surface;
[0010] The first sensors are configured to correspond one-to-one to the plurality of floating limit pins.
[0011] Furthermore, the suction cup jig also includes a first elastic member sleeved on the outside of the floating limit pin, and both ends of the first elastic member abut between the jig body and the floating limit pin, and the first elastic member is used to keep the floating limit pin protruding from the adsorption surface without being affected by external force.
[0012] Furthermore, the suction cup jig also includes a stripping component, which includes a driving part and a telescopic part slidably cooperated with the driving part, the driving part is installed on the jig body, and the driving part is used to drive the telescopic part to slide so that the telescopic part protrudes from one side of the adsorption surface or shrinks to the other side of the adsorption surface.
[0013] Furthermore, the suction cup jig also includes a second sensor disposed on the jig body, and the second sensor is used to detect whether the adsorption surface adsorbs a workpiece.
[0014] Further, the fixture body includes a connecting arm, a buffer mechanism and an adsorption plate group, the adsorption plate group has the adsorption surface, and the buffer mechanism is connected between the connecting arm and the adsorption plate group to allow the adsorption plate group to have a degree of freedom to slide relative to the connecting arm along a direction perpendicular to the adsorption surface;
[0015] The floating limit pin has a degree of freedom to slide perpendicular to the adsorption surface relative to the adsorption plate group, and two ends of the first elastic member abut between the adsorption plate group and the floating limit pin.
[0016] Further, the buffer mechanism includes a first guide sleeve, a guide shaft, a first cushion block and a second elastic member;
[0017] The first guide sleeve is mounted on the connecting arm;
[0018] One end of the guide shaft extends into the first guide sleeve and has the freedom to slide perpendicular to the adsorption surface relative to the first guide sleeve, and the other end is connected to the adsorption plate group;
[0019] The first cushion block and the second elastic member are sleeved on the outside of the guide shaft, and the first cushion block and the second elastic member are sandwiched between the connecting arm and the adsorption plate group.
[0020] Further, the adsorption plate group includes a floating plate, an adsorption plate and a vacuum generator;
[0021] Both sides of the floating plate are connected to the buffer mechanism and the adsorption plate respectively, the vacuum generator is installed on the floating plate and communicated with the adsorption plate, and the surface of the adsorption plate away from the floating plate is the adsorption surface.
[0022] Furthermore, the suction cup jig also includes a second guide sleeve, which is installed on the jig body and has a second pad sandwiched between the jig body, the floating limit pin passes through the second guide sleeve and has the freedom to slide relative to the second guide sleeve along a direction perpendicular to the adsorption surface, a washer is sandwiched between one end of the floating limit pin and one end of the second guide sleeve, a first elastic member is sandwiched between the other end of the floating limit pin and the other end of the second guide sleeve, and a washer is sandwiched between the first elastic member and the second guide sleeve.
[0023] Furthermore, the first sensor is installed on the fixture body through a connecting seat, and the first sensor is located above the floating limit pin.
[0024] The suction cup fixture provided by the present invention can produce the following beneficial effects:
[0025] When using the above-mentioned suction cup jig, assuming that a core stacking bottom plate has been placed on the stacking area or at least one layer of workpieces has been stacked on the core stacking bottom plate, when the suction cup jig stacks workpieces on this basis, the floating limit pin is aligned and extends into the preset positioning hole of the core stacking bottom plate or the side surface of the floating limit pin is aligned and abutted against the side surface of the stacked workpiece. At this time, the floating limit pin is not lifted up, and the first sensor cannot detect the sliding of the floating limit pin. The stacking accuracy is determined to be qualified, and the stacking of the next workpiece is continued; if the floating limit pin is not aligned with the preset positioning hole of the core stacking bottom plate or the side surface of the floating limit pin is not aligned with the side surface of the stacked workpiece, since the length of the floating limit pin protruding from the adsorption surface is greater than the thickness of the workpiece to be adsorbed, the floating limit pin is lifted up by the core stacking bottom plate or the stacked workpiece, and the first sensor detects that the floating limit pin slides relative to the jig body. At this time, the stacking accuracy is determined to be unqualified, and the suction cup jig adsorbs and transfers the workpiece on it to the defective product area.
[0026] Compared with the prior art, the suction cup jig provided in the first aspect of the present invention can ensure the position accuracy of the workpiece relative to the jig through a floating limit pin, so that actions such as adsorption, transfer and discharge during stacking can be performed at high speed, and the traditional stacking rhythm of 4s / piece is increased to 2s / piece, and the stacking speed is increased by more than 40%. At the same time, the first sensor is used to detect whether the floating limit pin is lifted up, and then to detect whether the stacking accuracy is qualified. There is no need to install a visual system to detect the stacking misalignment, thereby reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0028] Figure 1 A schematic diagram of a three-dimensional structure of a suction cup fixture provided by an embodiment of the present invention at a first viewing angle;
[0029] Figure 2 A schematic diagram of a three-dimensional structure of a suction cup fixture provided by an embodiment of the present invention at a second viewing angle;
[0030] Figure 3 A schematic diagram of a three-dimensional structure of a suction cup fixture provided by an embodiment of the present invention when adsorbing a workpiece;
[0031] Figure 4 A partially enlarged schematic diagram of a connection between a floating limit pin, a first elastic member and an adsorption plate assembly provided in an embodiment of the present invention;
[0032] Figure 5 for Figure 1 A local enlarged schematic diagram of point A;
[0033] Figure 6 A schematic diagram of the three-dimensional structure of a battery stacking system provided in an embodiment of the present invention.
[0034] Icons: 1- fixture body; 11- connecting arm; 111- mounting seat; 112- fixing plate; 12- buffer mechanism; 121- first guide sleeve; 122- guide shaft; 123- first cushion block; 124- second elastic member; 13- adsorption plate group; 131- floating plate; 1311- connecting seat; 132- adsorption plate; 1321- adsorption surface; 133- vacuum generator; 134- second guide sleeve; 135- second cushion block; 136- washer; 2- floating limit pin; 21- elastic retaining ring for shaft; 3- first sensor; 4- workpiece to be adsorbed; 5- first elastic member; 6- driving part; 7- telescopic part; 8- second sensor; 9- deviation correction platform; 91- clearance hole; 10- monitoring unit; 011- workpiece; 012- core stacking bottom plate. DETAILED DESCRIPTION
[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.
[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0038] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.
[0039] The first aspect of the present invention provides a suction cup fixture, such as Figure 1 and Figure 2 As shown, it includes a fixture body 1, a floating limit pin 2 and a first sensor 3;
[0040] The fixture body 1 has an adsorption surface 1321, and a floating limit pin 2 and a first sensor 3 are installed on the fixture body 1;
[0041] The floating limit pin 2 protrudes from the adsorption surface 1321 and the protruding length is greater than the thickness of the workpiece 4 to be adsorbed. The side surface of the floating limit pin 2 protruding from the adsorption surface 1321 is used to abut against the side surface of the workpiece 4 to be adsorbed to limit the position of the workpiece 4 to be adsorbed relative to the adsorption surface 1321. The floating limit pin 2 has the freedom to slide perpendicular to the adsorption surface 1321 relative to the fixture body 1.
[0042] The first sensor 3 is used to detect whether the floating limit pin 2 slides relative to the fixture body 1 .
[0043] After the suction cup fixture provided in the above embodiment sucks the workpiece 011, the length of the floating stop pin 2 protruding from the suction surface 1321 is greater than the thickness of the workpiece 011. Figure 3As shown, the bottom end of the floating stop pin 2 still protrudes from the bottom surface of the workpiece 011. When the workpiece 011 is stacked on the core stacking bottom plate 012 or the already stacked workpiece 011, if the floating stop pin 2 can be aligned and inserted into the preset positioning hole of the core stacking bottom plate 012 or the side surface of the floating stop pin 2 is aligned and abutted against the side surface of the already stacked workpiece 011, the floating stop pin 2 will not be lifted up, and the first sensor 3 cannot detect the sliding of the floating stop pin 2, indicating that the stacking accuracy is qualified and the next workpiece 4 to be sucked can be adsorbed; if the floating stop pin 2 fails to be aligned and inserted into the preset positioning hole of the core stacking bottom plate 012 or the side surface of the floating stop pin 2 is not aligned with the side surface of the already stacked workpiece 011, the floating stop pin 2 is lifted up, and the first sensor 3 detects that the floating stop pin 2 slides relative to the fixture body 1, indicating that the stacking accuracy is unqualified, and the suction cup fixture adsorbs and transfers the workpiece 011 on it to the defective product area.
[0044] The above-mentioned suction cup jig is equipped with a floating limit pin 2 and a first sensor 3. The side surface of the floating limit pin 2 just contacts the side surface of the workpiece 011 thereon and the bottom end of the floating limit pin 2 protrudes from the bottom surface of the workpiece 011 thereon. When there is a deviation in the stacking position of the workpiece 011, the floating limit pin 2 is quickly "triggered". After the first sensor 3 detects the movement of the floating limit pin 2, it is determined that the stacking of the workpiece 011 on the suction cup jig is unqualified. The suction cup jig transfers the workpiece 011 to the unqualified product area. In this way, the stacking accuracy of each workpiece 011 can be guaranteed during the stacking process. There is no need to ensure the stacking accuracy by slowing down the speed of adsorption, transfer and discharge, and there is no need to use a visual system to detect the misalignment after stacking, thereby improving the stacking efficiency and reducing the stacking cost.
[0045] Among them, the first sensor 3 can use a proximity switch, and the proximity switch does not need to have direct mechanical contact with the floating limit pin 2. When the distance between the surface of the floating limit pin 2 facing the proximity switch and the proximity switch changes, the proximity switch can be triggered and a control instruction is sent to allow the suction cup fixture to move the workpiece 011 to the defective product area.
[0046] In some embodiments, Figure 2 and Figure 3 As shown, the floating limit pins 2 are configured in plurality, and the plurality of floating limit pins 2 cooperate together to limit the position of the workpiece 011 relative to the adsorption surface 1321 along the X direction and the Y direction. The X direction is perpendicular to the Y direction and are collectively parallel to the adsorption surface 1321 .
[0047] The configuration of the above floating stop pin 2 can more comprehensively define the position of the workpiece 011 relative to the adsorption surface 1321. For example, if only one floating stop pin 2 is configured, when the position accuracy of the local side surface of the workpiece 011 in contact with the floating stop pin 2 meets the requirements, but the positions of other side surfaces are offset, the floating stop pin 2 cannot make corresponding actions for the above situation. Compared with configuring one floating stop pin 2, the above embodiment can completely define the position of the workpiece 011 on a plane parallel to the adsorption surface 1321 and detect the position accuracy of the workpiece 011 when stacking on the above plane, ensuring that at least one floating stop pin 2 will be lifted up regardless of the deviation of the workpiece 011 in the X direction or the Y direction.
[0048] Specifically, the floating limit pins 2 can be configured to be two, three, four, five or other multiple numbers.
[0049] In at least one embodiment, four floating limit pins 2 are configured, wherein two floating limit pins 2 limit the position of the workpiece 011 along the Y direction, and the other two floating limit pins 2 limit the position of the workpiece 011 along the X direction and the Y direction.
[0050] It should be noted that for a workpiece 011 with edges and corners, the position of the floating limit pin 2 is preferably set corresponding to the edges and corners of the workpiece 011, so that the side surface of the floating limit pin 2 is abutted against the side surface of the edges and corners of the workpiece 011, so as to achieve the limitation of the above-mentioned floating limit pin 2 in multiple directions.
[0051] On the basis of the above embodiment, the first sensors 3 are configured to correspond one to one with the plurality of floating limit pins 2, and when any first sensor 3 detects that the corresponding floating limit pin 2 moves, the stacking accuracy is determined to be unqualified.
[0052] In the absence of external force, the floating limit pin 2 can protrude from the adsorption surface 1321 under the action of gravity, or can remain in a state of protruding from the adsorption surface 1321 due to obstacles from other structures.
[0053] In some embodiments, Figure 4 As shown, in order to ensure that the floating limit pin 2 stably protrudes from the adsorption surface 1321, the suction cup fixture also includes a first elastic member 5 which is sleeved on the outside of the floating limit pin 2, and the two ends of the first elastic member 5 are abutted between the fixture body 1 and the floating limit pin 2. The first elastic member 5 is used to keep the floating limit pin 2 protruding from the adsorption surface 1321 without being affected by external forces.
[0054] The first elastic member 5 can be a coil spring. When not subjected to external force, the coil spring can be in a naturally extended state or in a compressed state.
[0055] The following specifically describes the installation position and installation structure of the floating limit pin 2, the first sensor 3 and the first elastic member 5 in combination with the specific structure of the fixture body 1:
[0056] In some embodiments, Figure 1 and Figure 2 As shown, the jig body 1 includes a connecting arm 11, a buffer mechanism 12 and an adsorption plate group 13. The connecting arm 11 is used to connect to the manipulator. The adsorption plate group 13 has an adsorption surface 1321. The buffer mechanism 12 is connected between the connecting arm 11 and the adsorption plate group 13 to allow the adsorption plate group 13 to have the freedom to slide relative to the connecting arm 11 along a direction perpendicular to the adsorption surface 1321, thereby preventing the suction cup jig from rigidly contacting the core when the suction cup jig absorbs and stacks the workpiece 011 and damaging the jig or the stack core.
[0057] Based on the above embodiment, the floating limit pin 2 can be installed on the adsorption plate group 13, and the floating limit pin 2 has the freedom to slide along a direction perpendicular to the adsorption surface 1321 relative to the adsorption plate group 13, and the two ends of the first elastic member 5 abut between the adsorption plate group 13 and the floating limit pin 2.
[0058] In some embodiments, Figure 1 and Figure 4 As shown, the adsorption plate group 13 includes a floating plate 131, an adsorption plate 132 and a vacuum generator 133. The two sides of the floating plate 131 are respectively connected to the buffer mechanism 12 and the adsorption plate 132. The vacuum generator 133 is installed on the floating plate 131 and communicated with the adsorption plate 132. The surface of the adsorption plate 132 away from the floating plate 131 is the adsorption surface 1321. The vacuum generator 133 generates a vacuum environment through the adsorption holes on the adsorption plate 132, so that the workpiece 011 is adsorbed on the adsorption surface 1321.
[0059] In order to facilitate the installation of the floating limit pin 2 and reduce the friction force when the floating limit pin 2 slides relative to the fixture body 1, the suction cup fixture also includes a second guide sleeve 134 installed on the fixture body 1. Specifically, through holes are relatively opened on the floating plate 131 and the adsorption plate 132, and the second guide sleeve 134 can be installed on the floating plate 131 through a connecting piece such as a screw, and the bottom of the second guide sleeve 134 extends into the through hole on the floating plate 131. A second cushion block 135 is sandwiched between the second guide sleeve 134 and the floating plate 131. The floating limit pin 2 passes through the second guide sleeve 134 and the through hole on the adsorption plate 132 and has the freedom to slide along the vertical direction to the adsorption surface 1321 relative to the second guide sleeve 134.
[0060] In some embodiments, Figure 4As shown, a washer 136 is sandwiched between one end of the floating limit pin 2 and one end of the second guide sleeve 134, a first elastic member 5 is sandwiched between the other end of the floating limit pin 2 and the other end of the second guide sleeve 134, and a washer 136 is sandwiched between the first elastic member 5 and the second guide sleeve 134.
[0061] The provision of the washer 136 can prevent the shaft elastic retaining ring 21 on the floating limit pin 2, the first elastic member 5 and the ball in the second guide sleeve 134 from directly contacting each other, thereby affecting the life of the second guide sleeve 134.
[0062] In addition, if Figure 4 As shown, a connecting seat 1311 can also be provided on the floating plate 131, and the first sensor 3 is installed on the floating plate 131 through the connecting seat 1311. The first sensor 3 is located above the floating limit pin 2, so that the first sensor 3 can detect the sliding of the floating limit pin 2 relative to the fixture body 1.
[0063] In some embodiments, Figure 1 As shown, the connecting arm 11 includes a mounting seat 111 and a fixing plate 112 connected to the mounting seat 111 . The mounting seat 111 is installed on a manipulator of the equipment and is driven by the manipulator to stack the hydrogen fuel cell stack core. The fixing plate 112 is connected to the buffer mechanism 12 .
[0064] In some embodiments, Figure 5 As shown, the buffer mechanism 12 includes a first guide sleeve 121, a guide shaft 122, a first cushion block 123 and a second elastic member 124, wherein:
[0065] The first guide sleeve 121 can be installed on the connecting arm 11 through a screw connection;
[0066] One end of the guide shaft 122 extends into the first guide sleeve 121 and has the freedom to slide along the vertical direction of the adsorption surface 1321 relative to the first guide sleeve 121, and the other end is fixedly connected to the adsorption plate group 13;
[0067] The first cushion block 123 and the second elastic member 124 are sleeved on the outside of the guide shaft 122 , and the first cushion block 123 and the second elastic member 124 are sandwiched between the connecting arm 11 and the suction plate assembly 13 .
[0068] When the adsorption plate group 13 encounters upward resistance, the adsorption plate group 13 drives the guide shaft 122 to move upward relative to the first guide sleeve 121, and the second elastic member 124 between the first cushion block 123 and the adsorption plate group 13 is squeezed, thereby buffering the force between the adsorption plate group 13 and the core.
[0069] The second elastic member 124 is preferably a coil spring.
[0070] In some embodiments, Figure 1and Figure 2 As shown, the suction cup jig also includes a stripping assembly, which includes a driving part 6 and a telescopic part 7 slidably cooperated with the driving part 6. The driving part 6 is installed on the jig body 1, and the driving part 6 is used to drive the telescopic part 7 to slide so that the telescopic part 7 protrudes from one side of the adsorption surface 1321 or shrinks to the other side of the adsorption surface 1321.
[0071] When the suction cup fixture puts down the workpiece 011, the driving unit 6 drives the telescopic part 7 to extend so that it protrudes from one side of the adsorption surface 1321, so that the workpiece 011 is separated from the adsorption surface 1321 in time, to prevent the workpiece 011 from being lifted up due to static electricity and other factors when the suction cup fixture is lifted, thereby affecting the stacking accuracy. After the workpiece 011 is stacked, the driving unit 6 drives the telescopic part 7 to shrink to the other side of the adsorption surface 1321, so as not to hinder the adsorption of the next workpiece 4 to be adsorbed by the adsorption surface 1321.
[0072] In some embodiments, Figure 1 As shown, the suction cup fixture further includes a second sensor 8 disposed on the fixture body 1 , and the second sensor 8 is used to detect whether the adsorption surface 1321 adsorbs a workpiece.
[0073] Specifically, the second sensor 8 is installed on the floating plate 131 of the fixture body 1 , and detection through holes are disposed opposite to each other on the floating plate 131 and the adsorption plate 132 , so that the second sensor 8 can detect whether the adsorption surface 1321 adsorbs a workpiece.
[0074] The second aspect of the present invention provides a battery stacking system. Figure 6 As shown, the battery stacking system provided by the embodiment of the second aspect of the present invention includes a correction platform 9 and the above-mentioned suction cup fixture. The correction platform 9 is provided with a clearance hole 91 for allowing the floating limit pin 2 to penetrate therein, and the correction platform 9 is used to place the workpiece 4 to be sucked.
[0075] Among them, the correction platform 9 is preferably configured as two, one correction platform 9 is used to place the bipolar plate, and the other correction platform 9 is used to place the membrane electrode. A stacking area is formed between the two correction platforms 9, so that the bipolar plates and membrane electrodes are conveniently fed from both sides of the stacking area.
[0076] In some embodiments, Figure 6 As shown, the battery stacking system also includes a monitoring unit 10 located above the correction platform 9. The monitoring unit 10 is connected to the correction platform 9. The monitoring unit 10 is used to confirm the position offset of the workpiece 4 to be sucked on the correction platform 9 and control the movement of the correction platform 9 to correct the position of the workpiece 4 to be sucked thereon.
[0077] The working process of the battery stacking system is as follows:
[0078] like Figure 6As shown, the suction cup fixture first absorbs the core stacking bottom plate 012 and places the core stacking bottom plate 012 in the stacking area. The core stacking bottom plate 012 is generally the gas port end plate of the hydrogen fuel cell stack. The workpiece 011 is first placed above the correction platform 9 on one side of the stacking area. The monitoring unit 10 and the correction platform 9 cooperate to accurately correct the position of the workpiece 011. Since the correction platform 9 is provided with a clearance hole 91, when the suction cup fixture absorbs the workpiece 011 on the correction platform 9, the floating limit pin 2 can extend into the clearance hole 91 to prevent the floating limit pin 2 from being lifted up and causing the first sensor 3 to misdetect. The suction cup fixture absorbs, transfers and stacks the workpiece 011 corrected by the correction platform 9 onto the core stacking bottom plate 012, and then absorbs, transfers and stacks the workpiece 011 on the correction platform 9 on the other side of the stacking area onto the stacked workpiece 011, and repeats this process.
[0079] When the monitoring unit 10 detects that the position of the workpiece 011 on the correction platform 9 is deviated, the monitoring unit 10 can transmit the offset to the electric control system of the correction platform 9, and the electric control system of the correction platform 9 drives the servo motor of the correction platform 9 to move, and the servo motor drives the platform on the correction platform 9 to move to correct the position of the workpiece 011. The above control process and the specific structure of the correction platform 9 are existing well-known technologies, and will not be described in detail here to save space.
[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.
Claims
1. A suction cup fixture, characterized in that: It comprises a fixture body (1), a floating limit pin (2) and a first sensor (3); The fixture body (1) has an adsorption surface (1321), and the floating limit pin (2) and the first sensor (3) are mounted on the fixture body (1); The floating limit pin (2) protrudes from the adsorption surface (1321) and the protruding length is greater than the thickness of the workpiece (4) to be adsorbed; the side surface of the floating limit pin (2) protruding from the adsorption surface (1321) is used to abut against the side surface of the workpiece (4) to be adsorbed to limit the position of the workpiece (4) to be adsorbed relative to the adsorption surface (1321); the floating limit pin (2) has the freedom to slide along a direction perpendicular to the adsorption surface (1321) relative to the fixture body (1); The first sensor (3) is used to detect whether the floating limit pin (2) slides relative to the fixture body (1).
2. The suction cup fixture according to claim 1, characterized in that: The floating limit pins (2) are configured in plurality, and the plurality of floating limit pins (2) cooperate together to limit the position of the workpiece (4) to be sucked relative to the suction surface (1321) along the X direction and the Y direction, wherein the X direction is perpendicular to the Y direction and are parallel to the suction surface (1321); The first sensors (3) are configured to correspond one-to-one to the plurality of floating limit pins (2).
3. The suction cup fixture according to claim 1, characterized in that: The suction cup fixture also includes a first elastic member (5) which is sleeved on the outside of the floating limit pin (2), and the two ends of the first elastic member (5) are abutted between the fixture body (1) and the floating limit pin (2), and the first elastic member (5) is used to keep the floating limit pin (2) protruding from the adsorption surface (1321) without being affected by external forces.
4. The suction cup fixture according to claim 1, characterized in that: The suction cup jig also includes a stripping assembly, which includes a driving part (6) and a telescopic part (7) slidably matched with the driving part (6), wherein the driving part (6) is mounted on the jig body (1), and the driving part (6) is used to drive the telescopic part (7) to slide, so that the telescopic part (7) protrudes from one side of the adsorption surface (1321) or shrinks to the other side of the adsorption surface (1321).
5. The suction cup fixture according to claim 1, characterized in that: The suction cup jig further comprises a second sensor (8) arranged on the jig body (1), wherein the second sensor (8) is used to detect whether a workpiece is adsorbed on the adsorption surface (1321).
6. The suction cup fixture according to claim 3, characterized in that: The fixture body (1) comprises a connecting arm (11), a buffer mechanism (12) and an adsorption plate group (13); the adsorption plate group (13) has the adsorption surface (1321); the buffer mechanism (12) is connected between the connecting arm (11) and the adsorption plate group (13) to allow the adsorption plate group (13) to have a degree of freedom to slide relative to the connecting arm (11) in a direction perpendicular to the adsorption surface (1321); The floating limit pin (2) has the freedom to slide relative to the adsorption plate group (13) in a direction perpendicular to the adsorption surface (1321), and the two ends of the first elastic member (5) are abutted between the adsorption plate group (13) and the floating limit pin (2).
7. The suction cup fixture according to claim 6, characterized in that: The buffer mechanism (12) comprises a first guide sleeve (121), a guide shaft (122), a first cushion block (123) and a second elastic member (124); The first guide sleeve (121) is installed on the connecting arm (11); One end of the guide shaft (122) extends into the first guide sleeve (121) and has the freedom to slide along a direction perpendicular to the adsorption surface (1321) relative to the first guide sleeve (121), and the other end is connected to the adsorption plate group (13); The first cushion block (123) and the second elastic member (124) are sleeved on the outside of the guide shaft (122), and the first cushion block (123) and the second elastic member (124) are clamped between the connecting arm (11) and the adsorption plate group (13).
8. The suction cup fixture according to claim 6, characterized in that: The adsorption plate group (13) comprises a floating plate (131), an adsorption plate (132) and a vacuum generator (133); The two sides of the floating plate (131) are respectively connected to the buffer mechanism (12) and the adsorption plate (132); the vacuum generator (133) is mounted on the floating plate (131) and communicated with the adsorption plate (132); the surface of the adsorption plate (132) facing away from the floating plate (131) is the adsorption surface (1321).
9. The suction cup fixture according to any one of claims 1 to 8, characterized in that: The suction cup fixture also includes a second guide sleeve (134), which is installed on the fixture body (1) and has a second cushion block (135) sandwiched between the second guide sleeve (134) and the fixture body (1); the floating limit pin (2) passes through the second guide sleeve (134) and has the freedom to slide along a direction perpendicular to the adsorption surface (1321) relative to the second guide sleeve (134); a washer (136) is sandwiched between one end of the floating limit pin (2) and one end of the second guide sleeve (134); a first elastic member (5) is sandwiched between the other end of the floating limit pin (2) and the other end of the second guide sleeve (134); and a washer (136) is sandwiched between the first elastic member (5) and the second guide sleeve (134).
10. The suction cup fixture according to any one of claims 1 to 8, characterized in that: The first sensor (3) is mounted on the fixture body (1) via a connecting seat (1311), and the first sensor (3) is located above the floating limit pin (2).