Visual inspection equipment for collector plate of fuel cell

Abstract

The invention relates to the technical field of visual inspection equipment manufacturing, in particular to visual inspection equipment for a fuel cell collector plate. The fuel cell collector plates are divided into n detection subareas, and the fuel cell collector plates are supplied to the fuel cell collector plate feeding system in batches and are transferred to the material bearing unit one by one by means of the multi-degree-of-freedom feeding manipulator. Under the action of the material transfer unit, a plurality of fuel cell collector plates continue to flow in a stepping manner, and in the intermittent staying period, the n optical detection devices independently carry out image regional pickup operation on the n detection subregions respectively, so that the information amount of image data needing to be collected by a single optical detection device is relatively limited, and the detection efficiency is improved. On the premise that the data processing precision is ensured, the time consumed by image processing can be greatly shortened. And moreover, the time consumed by partitioned image acquisition is relatively short, so that the visual inspection efficiency of the fuel cell collector plate is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of visual inspection equipment manufacturing, in particular to a visual inspection equipment for a fuel cell collector plate. Background Art

[0002] Fuel cells, as a highly efficient power generation device that converts the chemical energy of fuel into electrical energy directly through electrochemical reactions without burning fuel, have been widely recognized and applied. Fuel cell collector plates are an important component of fuel cell systems, playing a key role in concentrating, distributing and transmitting the electrical energy generated by fuel cells. Fuel cell collector plates are plate-like components made of conductive materials that are used to connect multiple cells in a fuel cell stack and provide power supply and current distribution functions.

[0003] There are a large number of structural features and formed welds on the fuel cell collector plate, and all of them have extremely strict forming quality requirements. As for the formed welds, according to the regional functional classification of the fuel cell collector plate, they are divided into flow channel area welding and sealing area welding. The corresponding welding materials are mostly metals, and the thickness of the single sheet material is controlled between 0.05 and 0.3 mm. Specifically: the weld surface should be smooth and flat, without obvious weld bumps, depressions, pores, cracks and other defects; the weld should have a smooth transition with the parent material, without obvious undercuts, lack of fusion, incomplete penetration and other defects; the shape and size of the weld should meet the design requirements and shall not exceed the allowable deviation; the weld surface should not have defects such as missing welds, wrong welds, slag inclusions, etc. that affect use and appearance. The upstream new energy vehicle manufacturers have newly purchased a batch of visual inspection equipment, which mainly consists of machine platforms, circular conveyor belts, carrying fixtures, flipping manipulators, upstream visual inspection cameras, and downstream visual inspection cameras. The carrying fixture is used to support a single fuel cell collector plate. Multiple carrying jigs are arranged on the circular conveyor belt in sequence, and the fuel cell collector plates are subjected to the upstream inspection position piece by piece under the conveying force from the circular conveyor belt, during which the upstream visual inspection camera picks up the complete front image of the fuel cell collector plate, and then, with the help of the flipping manipulator, the fuel cell collector plate is flipped 180°, and continues to flow under the conveying force, and passes through the downstream inspection position, during which the downstream visual inspection camera picks up the complete back image of the fuel cell collector plate. However, according to feedback from upstream new energy vehicle manufacturers, in actual applications, the inspection effect is poor, the inspection efficiency is extremely low, the image processing time is too long, and the data is easily distorted during the processing process, which leads to the frequent occurrence of false detection and missed detection of weld defects. The reasons are as follows: 1) The weld distribution area of ​​the fuel cell collector plate is relatively large. Limited by the image acquisition capability and image acquisition speed of the equipped visual inspection camera, it is bound to slow down the running speed of the circular conveyor belt, which ultimately affects the inspection efficiency; 2) The amount of image data information required to be collected by the visual inspection camera is too large. Limited by its data computing capability, the required image processing takes too long, and the data is easily distorted during the processing; 3) During the image acquisition process, it takes time to perform a 180° flip operation on the fuel cell collector plate, and the circular conveyor belt needs to remain in a paused state during the 180° flip process, which will inevitably affect the conveying rhythm of the fuel cell collector plate to a certain extent, and is limited by the objective existence of the secondary positioning error after flipping, which will affect the stability and accuracy of image acquisition, and ultimately have an adverse effect on the image processing speed. Therefore, it is urgent for technical personnel to solve the above problems. Summary of the invention

[0004] Therefore, in view of the above-mentioned existing problems and defects, the designers of the present invention collected relevant information, conducted multiple evaluations and considerations, and continued to experiment and modify after many years of R&D experience by technicians engaged in this industry, which ultimately led to the emergence of the fuel cell collector plate visual inspection equipment.

[0005] In order to solve the above technical problems, the present invention relates to a visual inspection device for fuel cell collector plates. The fuel cell collector plates are divided into n inspection zones. The visual inspection device for fuel cell collector plates includes a machine, a fuel cell collector plate feeding system, a multi-degree-of-freedom feeding robot, a material carrying unit, a material transfer unit, an optical inspection unit, a multi-degree-of-freedom unloading robot, a fuel cell collector plate non-conforming temporary storage tooling, and a fuel cell collector plate conforming output system. The fuel cell collector plate feeding system supplies fuel cell collector plates in batches to the multi-degree-of-freedom feeding robot. The multi-degree-of-freedom feeding robot picks up the fuel cell collector plates piece by piece and transfers them to the material carrying unit. Under the action of the material transfer unit, the fuel cell collector plates can continue to circulate in a step-by-step manner, and in this process, the optical inspection unit sequentially performs comprehensive image pickup operations on the n inspection zones of the fuel cell collector plates. With the help of a multi-degree-of-freedom unloading robot, fuel cell collector plates that pass visual inspection are transferred from the material carrying unit to the fuel cell collector plate good product output system, or fuel cell collector plates that fail visual inspection are transferred from the material carrying unit to the fuel cell collector plate non-qualified temporary storage tooling.

[0006] As a further improvement of the technical solution disclosed in the present invention, the fuel cell collector plate loading system includes a carrying jig and a carrier. The carrying jig is used to load fuel cell collector plates in batches, and it circulates under the driving force from the carrier. The carrier includes a left conveyor, a right conveyor, a baffle and a transverse drive mechanism. The left conveyor and the right conveyor are both supported by the machine, and the two are placed side by side, and the conveying directions are opposite. The baffle is used to partially isolate the left conveyor and the right conveyor, and a fully loaded jig conveying flow channel, a jig transverse flow channel and an empty jig conveying flow channel are formed. The jig transverse flow channel spans the left conveyor and the right conveyor at the same time, and the only source of the carrying driving force of the fully loaded jig conveying flow channel is the right conveyor, and the only source of the carrying driving force of the empty jig conveying flow channel is the left conveyor. The transverse driving mechanism is used to drive the unloaded carrying fixture to perform displacement movement along the fixture transverse flow channel, and the left conveyor and the right conveyor serve as its installation basis.

[0007] As a further improvement of the technical solution disclosed in the present invention, the support fixture includes a substrate and a material blocking assembly. The substrate is provided with an avoidance notch for the lateral drive mechanism to apply a driving force thereto. The material blocking assembly is composed of a plurality of material blocking members detachably fixed to the substrate and in an upright state, so that a left-mounted fuel cell collector plate accumulation partition and a right-mounted fuel cell collector plate accumulation partition are formed.

[0008] As a further improvement of the technical solution disclosed in the present invention, the fuel cell collector plate feeding system also includes a position correction mechanism. The position correction mechanism is installed on the right conveyor. After the fully loaded carrier jig stops relative to the jig transverse flow channel, the position correction mechanism is activated to correct its relative position. The position correction mechanism is composed of multiple groups of pin cylinders and correction sleeves. The multiple pin cylinders are all installed on the right conveyor and are hidden under the base plate. The base plate is evenly distributed with a plurality of insertion holes for the correction sleeve to be embedded. In the process of the correction sleeve being penetrated by the corresponding pin cylinder, the relative position of the fully loaded carrier jig can be corrected.

[0009] As a further improvement of the technical solution disclosed in the present invention, the lateral drive mechanism includes a load-bearing frame, a linear module, a lifter and a force-applying member. The left conveyor and the right conveyor serve together as the installation base of the load-bearing frame, and the load-bearing frame is hidden below the two. The linear module is used to drive the lifter to perform lateral movement, and it is installed on the load-bearing frame. The force-applying member used to directly apply lateral thrust to the substrate is driven by the lifter.

[0010] As a further improvement of the technical solution disclosed in the present invention, a multi-degree-of-freedom loading manipulator and a multi-degree-of-freedom unloading manipulator are both supported by the machine, and both have the same design structure. The multi-degree-of-freedom loading manipulator includes a multi-degree-of-freedom robotic arm and an adsorption picking tool. The adsorption picking tool is used to pick up the fuel cell collector plates one by one, and its posture changes due to the driving force from the multi-degree-of-freedom robotic arm, so that the fuel cell collector plates can be transferred. The adsorption picking tool includes a load-bearing plate and multiple vacuum adsorption components. Multiple vacuum adsorption components are all installed on the load-bearing plate, and their relative positions and swing angles can be adjusted according to the different specifications of the pre-adsorbed fuel cell collector plates.

[0011] As a further improvement of the technical solution disclosed in the present invention, the vacuum adsorption assembly includes a carrier plate and a vacuum suction nozzle. The carrier plate is in contact with the load-bearing plate, and is detachably fixed to the load-bearing plate by means of a fastening assembly. A plurality of vacuum suction nozzles cooperate to pick up the fuel cell collector plate, and are assembled into one with the carrier plate in an insertion manner. A waist-shaped insertion hole adapted to the outer diameter of the vacuum suction nozzle is provided on the carrier plate.

[0012] As a further improvement of the technical solution disclosed in the present invention, the fastening assembly is composed of a first screw and a second screw of the same model and specification. The load-bearing plate is provided with threaded holes that are compatible with the first screw and the second screw. The bearing plate is also formed with a mounting hole that is compatible with the outer diameter of the first screw and an arc-shaped hole for the second screw to pass freely. When the bearing plate is preliminarily assembled relative to the load-bearing plate, the first screw and the second screw pass through the mounting hole and the arc-shaped hole respectively and one by one, and occupy two adjacent threaded holes. In the process of adjusting the swing angle of the vacuum adsorption assembly, the bearing plate uses the central axis of the first screw as the circumferential rotation reference, and the maximum swing angle and the minimum swing angle of the bearing plate are limited under the coordinated action of the second screw and the arc-shaped hole.

[0013] As a further improvement of the technical solution disclosed in the present invention, the material carrying unit, the material transfer unit and the optical detection unit are all carried by the machine. The material carrying unit is composed of an upstream material temporary storage platform, a first visual detection platform, a second visual detection platform, ..., the nth visual detection platform and a downstream material temporary storage platform, and is arranged in sequence from upstream to downstream. The material transfer unit includes an X-axis power unit, a Y-axis power unit and a first material picking transfer device, a second material picking transfer device, ..., and the n+1th material picking transfer device arranged in sequence from upstream to downstream. The optical detection unit is composed of a first optical detection device, a second optical detection device, ..., and the nth optical detection device, and is positioned one-to-one with the first visual detection platform, the second visual detection platform, ..., and the nth visual detection platform. Under the coordinated action of the X-axis power unit and the Y-axis power unit, the first material picking and transferring device, the second material picking and transferring device, ..., and the n+1th material picking and transferring device can synchronously perform X-axis displacement movement or Y-axis displacement movement, and the fuel cell collector plate can be transferred from the upstream material temporary storage platform to the downstream material temporary storage platform in a step-by-step manner. While stopping at the first visual inspection platform, the second visual inspection platform, ..., and the nth visual inspection platform, the first optical inspection device, the second optical inspection device, ..., and the nth optical inspection device independently inspect the n inspection partitions of the fuel cell collector plate one by one.

[0014] As a further improvement of the technical solution disclosed in the present invention, the first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage have the same design structure. The first visual inspection stage includes a first adjustable leveling platform and a first push-up mechanism. A first process notch is formed on the machine. The first adjustable leveling platform is hinged to the machine, and completely covers the first process notch in a flat state. The first push-up mechanism uses the machine as an installation base, and passes through the first process notch to apply a drag force toward the first adjustable leveling platform, so that the inclination angle α of the first adjustable leveling platform can be changed.

[0015] As a further improvement of the technical solution disclosed in the present invention, the first push mechanism includes a first cylinder, a first bracket assembly, a first hinge seat and a first hinge shaft. The first bracket assembly is detachably fixed to the machine platform and is composed of a first left-mounted L-shaped bracket and a first right-mounted L-shaped bracket that cooperate to support the first cylinder. The piston rod of the first cylinder is hingedly connected to the first adjustable leveling platform by means of the first hinge seat and the first hinge shaft. As the piston rod of the first cylinder advances in the extension and retraction process, its own swing angle changes, and the inclination angle α of the first adjustable leveling platform changes accordingly.

[0016] As a further improvement of the technical solution disclosed in the present invention, the first material picking and transferring device, the second material picking and transferring device, ..., the n+1 material picking and transferring device have the same design structure. The first material picking and transferring device includes a first bearing base, a first linear motion element, a first cantilever beam and a vacuum adsorption tooling. The first bearing base is able to perform XY plane displacement motion under the driving force from the X-axis power unit and the Y-axis power unit. The vacuum adsorption tooling is used to adsorb and pick up the fuel cell collector plate, and it is supported by the first cantilever beam. The first linear motion element is used to drive the first cantilever beam together with the vacuum adsorption tooling to perform Z-axis displacement motion, and it is installed on the first bearing base.

[0017] As a further improvement of the technical solution disclosed in the present invention, the first optical detection device, the second optical detection device, ..., the nth optical detection device have the same design structure. The first optical detection device includes a first upper AOI visual detection module and a first lower AOI visual detection module. The first upper AOI visual detection module is used to pick up the front image of the fuel cell collector plate, which is located directly above the first visual detection stage. The first lower AOI visual detection module is used to pick up the back image of the fuel cell collector plate, which is located directly below the first visual detection stage and hidden in the cavity of the machine.

[0018] In practical applications, the fuel cell collector plate visual inspection device disclosed in the present invention can achieve at least the following beneficial technical effects, specifically:

[0019] 1) The fuel cell collector plates are artificially divided into n detection partitions, and the fuel cell collector plates are supplied in batches to the fuel cell collector plate feeding system, and are transferred piece by piece to the material carrying unit by means of a multi-degree-of-freedom feeding robot. With the help of the material transfer unit, multiple fuel cell collector plates can continue to flow in a step-by-step manner, and during the intermittent dwell time period, the first optical detection device, the second optical detection device, ..., the nth optical detection device respectively perform image picking operations on the n detection partitions. In this way, the amount of image data information required to be collected by a single optical detection device is relatively limited, which can effectively relax the requirements for the image acquisition capability and image acquisition speed of the equipped visual detection camera, and on the premise of ensuring the accuracy of data processing, the time required for image processing can be greatly shortened;

[0020] 2) The first optical detection device, the second optical detection device, ..., and the nth optical detection device synchronously realize full image acquisition of n detection partitions of the fuel cell collector plate, and the time required for each image acquisition is relatively short, which can lay a good foundation for a substantial increase in the conveying speed of the fuel cell collector plate and is conducive to improving the visual inspection efficiency of the fuel cell collector plate;

[0021] 3) Also due to the relatively limited amount of image data information to be collected, a single optical detection device is more conducive to forming a high-quality imaging field of view during the image collection process. The collected image has extremely high clarity and avoids image distortion in subsequent image processing;

[0022] 4) The front and back images of the n detection partitions of the fuel cell collector are collected synchronously without the need to perform a 180° flip operation on it, which not only avoids the occurrence of errors caused by secondary repositioning of the fuel cell collector, but also optimizes its conveying rhythm. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 It is a three-dimensional schematic diagram of a fuel cell collector plate disclosed in the present invention from one viewing angle (the visual detection partition is defined by a double-dotted line).

[0025] Figure 2 It is a three-dimensional schematic diagram of another viewing angle of the fuel cell collector plate disclosed in the present invention (the visual detection partition is defined by a double-dotted line).

[0026] Figure 3 It is a three-dimensional schematic diagram of the visual inspection device for fuel cell collector plates disclosed in the present invention.

[0027] Figure 4 It is a three-dimensional schematic diagram of a machine platform in the fuel cell collector plate visual inspection equipment disclosed in the present invention.

[0028] Figure 5 It is a three-dimensional schematic diagram of a fuel cell collector plate loading system in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0029] Figure 6 It is also a three-dimensional schematic diagram of the fuel cell collector plate feeding system in the fuel cell collector plate visual inspection device disclosed in the present invention (with the carrying fixture and some conveying rollers of the left and right conveyors hidden).

[0030] Figure 7 It is a three-dimensional schematic diagram of a carrier fixture in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0031] Figure 8 yes Figure 7 Top view of the .

[0032] Fig. 9 It is a three-dimensional schematic diagram of the carrier machinery in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0033] Fig.10 yes Fig. 9 Top view of the .

[0034] Fig.11 It is also a three-dimensional schematic diagram of the carrier machinery in the fuel cell collector plate visual inspection device disclosed in the present invention (with some conveying rollers of the left and right conveyors hidden).

[0035] Fig.12 It is a three-dimensional schematic diagram of the transverse driving mechanism in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0036] Fig.13 It is a three-dimensional schematic diagram of a position correction mechanism in the visual detection device for a fuel cell collector plate disclosed in the present invention.

[0037] Fig.14 yes Figure 5 Top view of the .

[0038] Fig.15 yes Fig.14 AA section view.

[0039] Fig.16 yes Fig.14 BB cross-sectional view.

[0040] Fig.17 It is a stereoscopic schematic diagram from one perspective of a multi-degree-of-freedom loading manipulator in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0041] Fig.18 It is a stereoscopic schematic diagram from another perspective of the multi-degree-of-freedom loading manipulator in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0042] Fig.19 It is a three-dimensional schematic diagram of the adsorption and picking tooling in the fuel cell collector plate visual inspection equipment disclosed in the present invention.

[0043] Fig. 20 It is a three-dimensional schematic diagram of the load-bearing plate in the visual inspection device for fuel cell collector plates disclosed in the present invention.

[0044] Fig.21 It is a three-dimensional schematic diagram of the vacuum adsorption component in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0045] Fig. 22 It is a three-dimensional schematic diagram of a carrier plate in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0046] Fig.23 It is a schematic layout diagram of a material carrying unit, a material transfer unit, and an optical detection unit in the fuel cell collector plate visual detection device disclosed in the present invention relative to a machine platform from a viewing angle.

[0047] Fig.24 It is a layout schematic diagram of the material carrying unit, the material transfer unit, and the optical detection unit in the fuel cell collector plate visual detection equipment disclosed in the present invention relative to another viewing angle of the machine.

[0048] Fig.25 It is a schematic diagram of the relative position relationship of a viewing angle between a material carrying unit and an optical detection unit in the visual detection device for a fuel cell collector plate disclosed in the present invention.

[0049] Fig.26 It is a schematic diagram of the relative position relationship between the material carrying unit and the optical detection unit in another viewing angle in the visual detection device for fuel cell collector plates disclosed in the present invention.

[0050] Fig. 27 It is a three-dimensional schematic diagram of a material carrying unit in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0051] Fig.28 It is a three-dimensional schematic diagram of an upstream material temporary storage platform in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0052] Fig.29It is a three-dimensional schematic diagram of the first visual inspection stage in the visual inspection device for fuel cell collector plates disclosed in the present invention.

[0053] Fig.30 It is a three-dimensional schematic diagram of a downstream material temporary storage platform in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0054] Fig.31 It is a three-dimensional schematic diagram of a material transfer unit in the fuel cell collector plate visual inspection device disclosed in the present invention.

[0055] Fig.32 It is also a three-dimensional schematic diagram of the material transfer unit in the fuel cell collector plate visual inspection equipment disclosed in the present invention (the first material picking and transfer device, the second material picking and transfer device, the third material picking and transfer device, the fourth material picking and transfer device and the fifth material picking and transfer device are all hidden).

[0056] Fig.33 It is a three-dimensional schematic diagram from another perspective of the material transfer unit in the fuel cell collector plate visual inspection equipment disclosed in the present invention (the first material picking and transfer device, the second material picking and transfer device, the third material picking and transfer device, the fourth material picking and transfer device and the fifth material picking and transfer device are all hidden).

[0057] Fig.34 It is a schematic diagram of the relative position relationship of the first material picking and transferring device, the second material picking and transferring device, the third material picking and transferring device, the fourth material picking and transferring device, and the fifth material picking and transferring device in the fuel cell collector plate visual inspection equipment disclosed in the present invention.

[0058] 1-machine; 11-first process gap; 2-fuel cell collector plate feeding system; 21-carrying fixture; 211-substrate; 2111-avoidance gap; 2112-insertion hole; 212-blocking assembly; 2121-blocking piece; 213-left fuel cell collector plate accumulation partition; 214-right fuel cell collector plate accumulation partition; 22-carrying machinery; 221-left conveyor; 222-right conveyor; 223-blocking piece; 224-transverse driving mechanism; 2241-load-bearing frame; 2242-linear module; 2243-lifter; 2244-force-applying piece; 225-full-load fixture conveying channel; 226-fixture transverse movement Flow channel; 227-unloaded fixture conveying flow channel; 23-position guiding mechanism; 231-pin cylinder; 232-guiding sleeve; 3-multi-degree-of-freedom feeding manipulator; 31-multi-degree-of-freedom manipulator; 32-adsorption picking tooling; 321-load-bearing plate; 3211-threaded hole; 322-vacuum adsorption component; 3221-carrying plate; 32211-waist-shaped insertion hole; 32212-mounting hole; 32213-arc hole; 3222-vacuum suction nozzle; 3223-upper nut; 3224-lower nut; 323-fastening component; 3231-first screw; 3232-second screw; 4-material bearing unit; 41-upstream material temporary Storage platform; 42-first visual inspection platform; 421-first adjustable leveling platform; 422-first push mechanism; 4221-first cylinder; 4222-first bracket assembly; 42221-first left L-shaped bracket; 42222-first right L-shaped bracket; 4223-first hinge seat; 4224-first hinge shaft; 43-second visual inspection platform; 44-third visual inspection platform; 45-fourth visual inspection platform; 46-downstream material temporary storage platform; 5-material transfer unit; 51-X-direction power unit; 52-Y-direction power unit; 53-first material picking transfer device; 531-first bearing base; 532-first A linear motion element; 533-a first cantilever beam; 534-a vacuum adsorption tooling; 54-a second material picking and transferring device; 55-a third material picking and transferring device; 56-a fourth material picking and transferring device; 57-a fifth material picking and transferring device; 6-an optical detection unit; 61-a first optical detection device; 611-a first upper AOI visual detection module; 612-a first lower AOI visual detection module; 62-a second optical detection device; 63-a third optical detection device; 64-a fourth optical detection device; 7-a multi-degree-of-freedom unloading robot; 8-a temporary storage tooling for non-conforming fuel cell collector plates; 9-a good fuel cell collector plate output system. DETAILED DESCRIPTION

[0059] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "up", "down", etc. are based on the directions or positional relationships shown in the accompanying 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0060] The present invention will be further described in detail below with reference to specific embodiments. Figure 1 , Figure 2 The three-dimensional schematic diagrams of the fuel cell collector plate disclosed in the present invention from two different perspectives are respectively shown. It can be seen that it is artificially divided into four detection zones, and the division criteria are the structural features contained in each detection zone, the specific number of formed welds, the amount of image detail information and other factors.

[0061] Figure 3 The three-dimensional schematic diagram of the visual inspection device for the fuel cell collector plate disclosed in the present invention is shown. It can be seen that it is mainly composed of a machine 1, a fuel cell collector plate feeding system 2, a multi-degree-of-freedom feeding manipulator 3, a material carrying unit 4, a material transfer unit 5, an optical detection unit 6, a multi-degree-of-freedom unloading manipulator 7, a fuel cell collector plate non-conforming temporary storage tool 8, and a fuel cell collector plate good output system 9. Among them, the machine 1 serves as a common installation base for the fuel cell collector plate feeding system 2, the multi-degree-of-freedom feeding manipulator 3, the material carrying unit 4, the material transfer unit 5, the optical detection unit 6, the multi-degree-of-freedom unloading manipulator 7, the fuel cell collector plate non-conforming temporary storage tool 8, and the fuel cell collector plate good output system 9. The fuel cell collector plate feeding system 2 is used to supply fuel cell collector plates in batches to the multi-degree-of-freedom feeding manipulator 3. The multi-degree-of-freedom feeding manipulator 3 picks up the fuel cell collector plates piece by piece and transfers them to the material carrying unit 4. Under the action of the material transfer unit 5, the fuel cell collector plate can continue to circulate in a step-by-step manner, and in this process, the optical detection unit 6 sequentially performs comprehensive image pickup operations on the n detection partitions of the fuel cell collector plate. With the help of the multi-degree-of-freedom unloading manipulator 7, the fuel cell collector plate that passes the visual inspection is transferred from the material carrying unit 4 to the fuel cell collector plate good product output system 9, or the fuel cell collector plate that fails the visual inspection is transferred from the material carrying unit 4 to the fuel cell collector plate non-good product temporary storage tool 8.

[0062] Depend on Fig.23 , 24It can be clearly seen from the figure that the material carrying unit 4, the material transfer unit 5 and the optical detection unit 6 occupy the middle area of ​​the machine 1, which is the core assembly part of the fuel cell collector plate visual inspection equipment. The material carrying unit 4 is arranged downstream of the fuel cell collector plate feeding system 2 to receive the fuel cell collector plate transferred by the multi-degree-of-freedom feeding manipulator 3. The material carrying unit 4 serves as the carrying basis of the fuel cell collector plate, and with the help of the material transfer unit 5, the fuel cell collector plate can be circulated in a step-by-step manner, and during its short stay, the optical detection unit 6 sequentially performs a comprehensive image pickup operation on the four detection partitions of the fuel cell collector plate.

[0063] like Figure 25-27 As shown in , the material carrying unit 4 is composed of an upstream material temporary storage platform 41, a first visual inspection platform 42, a second visual inspection platform 43, a third visual inspection platform 44, a fourth visual inspection platform 45 and a downstream material temporary storage platform 46, and is arranged in sequence from upstream to downstream. The upstream material temporary storage platform 41 is used to directly receive the fuel cell collector plate transferred via the multi-degree-of-freedom loading manipulator 3. The fuel cell collector plates that have undergone visual inspection are all transferred to the fuel cell collector plate good product output system 9 or the fuel cell collector plate non-good product temporary storage tooling 8 via the downstream material temporary storage platform 46.

[0064] like Figure 31-34 As shown in , the material transfer unit 5 is mainly composed of an X-direction power unit 51, a Y-direction power unit 52, a first material picking and transferring device 53, a second material picking and transferring device 54, a third material picking and transferring device 55, a fourth material picking and transferring device 56, and a fifth material picking and transferring device 57. From upstream to downstream, the first material picking and transferring device 53, the second material picking and transferring device 54, the third material picking and transferring device 55, the fourth material picking and transferring device 56, and the fifth material picking and transferring device 57 are arranged linearly in sequence. Under the coordinated driving force from the X-direction power unit 51 and the Y-direction power unit 52, the first material picking and transferring device 53, the second material picking and transferring device 54, the third material picking and transferring device 55, the fourth material picking and transferring device 56, and the fifth material picking and transferring device 57 synchronously perform position change movements, so that the five adsorbed fuel cell collector plates can achieve step-by-step circulation.

[0065] like Fig.25 , 26 As shown in the figure, the optical detection unit 6 is composed of a first optical detection device 61, a second optical detection device 62, a third optical detection device 63 and a fourth optical detection device 64, and is aligned one by one with the first visual detection stage 42, the second visual detection stage 43, the third visual detection stage 44 and the fourth visual detection stage 45.

[0066] In actual applications, under the coordinated action of the X-axis power unit 51 and the Y-axis power unit 52, the first material picking and transferring device 53, the second material picking and transferring device 54, the third material picking and transferring device 55, the fourth material picking and transferring device 56, and the fifth material picking and transferring device 57 can synchronously perform X-axis displacement movement or Y-axis displacement movement, and the fuel cell collector plate adsorbed and picked up by them can be transferred from the upstream material temporary storage platform 41 to the downstream material temporary storage platform 46 in a step-by-step manner, and during the flow, it sequentially passes through the first visual inspection platform 42, the second visual inspection platform 43, the third visual inspection platform 44, and the fourth visual inspection platform 45. While stopped at the first visual inspection stage 42, the second visual inspection stage 43, the third visual inspection stage 44, and the fourth visual inspection stage 45, the first optical inspection device 61, the second optical inspection device 62, the third optical inspection device 63, and the fourth optical inspection device 64 independently inspect the four inspection partitions of the fuel cell collector plate one by one.

[0067] By adopting the above-mentioned technical scheme, on the one hand, the amount of image data information required to be collected for a single visual inspection by the first optical detection device 61, the second optical detection device 62, the third optical detection device 63, and the fourth optical detection device 64 is relatively limited, which can effectively relax the requirements on the image acquisition capability and image acquisition speed of the equipped visual detection cameras, and under the premise of ensuring data processing accuracy, the time required for image processing can be greatly shortened; on the other hand, the first optical detection device 61, the second optical detection device 62, the third optical detection device 63, and the fourth optical detection device 64 synchronously realize full image acquisition of the four detection partitions of the fuel cell collector plate, and the time required for each image acquisition is relatively short, which can lay a good foundation for a substantial increase in the conveying speed of the fuel cell collector plate, and is conducive to improving the visual inspection efficiency of the fuel cell collector plate.

[0068] Here, it is also necessary to explain that, also thanks to the relatively limited amount of image data information required to be collected for a single visual inspection, during the image acquisition process, the first optical detection device 61, the second optical detection device 62, the third optical detection device 63 and the fourth optical detection device 64 are more conducive to forming a high-quality imaging field of view, the collected image has extremely high clarity, and image distortion is avoided in subsequent image processing.

[0069] As Fig. 27 , 28As shown in FIG. 30 , the upstream material temporary storage platform 41 is mainly composed of two parts: a fixed upstream bearing platform and an upstream adsorption component. The downstream material temporary storage platform 46 is mainly composed of two parts: a fixed downstream bearing platform and a downstream adsorption component. The fixed upstream bearing platform and the fixed downstream bearing platform are both placed flat on the machine 1 and fixed in a detachable manner.

[0070] As Fig. 27 As shown in FIG. 1 , the first visual inspection stage 42 , the second visual inspection stage 43 , the third visual inspection stage 44 , and the fourth visual inspection stage 45 have the same design structure and play similar roles in the visual inspection process.

[0071] It is known that when an industrial camera is imaging, it is necessary to ensure that the optical axis is perpendicular to the plane of the fuel cell collector plate. If it is not installed flat or tilted, the optical axis will inevitably deviate from the vertical direction, and image distortion is inevitable. It will also cause the actual size of the fuel cell collector plate in the image to be distorted, thereby affecting the authenticity of the imaging. In view of this, as a further optimization of the above technical solution, the first visual detection stage 42, the second visual detection stage 43, the third visual detection stage 44, and the fourth visual detection stage 45 that are matched with the first optical detection device 61, the second optical detection device 62, the third optical detection device 63, and the fourth optical detection device 64 are preferably designed with an adjustable inclination. Specifically, taking the first visual detection stage 42 as an example, Fig. 27 , 29 As shown in , it includes a first leveling support platform 421 and a first push mechanism 422. Figure 4 As shown in FIG, a first process notch 11 is formed on the machine 1. The first adjustable leveling platform 421 is hinged to the machine 1 and completely covers the first process notch 11 in a flat state. The first push mechanism 422 uses the machine 1 as an installation base and passes through the first process notch 11 to apply a drag force to the first adjustable leveling platform 421, so that the inclination angle of the first adjustable leveling platform 421 can be changed. In this way, on the one hand, when the first optical detection device 61 is assembled in place relative to the machine platform 1, the first adjustable leveling platform 421 is subjected to the pushing force from the first pushing mechanism 422, so that its inclination angle can be changed, thereby ensuring that the verticality of the fuel cell collector plate placed thereon relative to the imaging optical axis meets the expected design requirements; on the other hand, during the imaging process, if it is found that the imaging quality of the first optical detection device 61 is unqualified, the first pushing mechanism 422 can be used to conveniently and quickly push the first adjustable leveling platform 421, so that the inclination angle of the first adjustable leveling platform 421 can be changed at a slight speed, and during this process, the imaging quality of the first optical detection device 61 is observed in real time until it meets the expected design requirements.

[0072] As is known, according to design common sense, the first push-up mechanism 422 can adopt a variety of design structures to achieve the push-up of the first adjustable leveling platform 421. However, hereby recommends an implementation scheme with a simple design structure, easy manufacturing and implementation, convenient maintenance and repair in the later stage, and extremely fast response speed, specifically: Fig.29 As shown in the figure, the first push mechanism 422 is mainly assembled by the first cylinder 4221, the first bracket assembly 4222, the first hinge seat 4223 and the first hinge shaft 4224. The first bracket assembly 4222 is detachably fixed to the machine 1 and is composed of the first left L-shaped bracket 42221 and the first right L-shaped bracket 42222 that cooperate to support the first cylinder 4221. The piston rod of the first cylinder 4221 is hingedly connected to the first adjustable leveling platform 421 by means of the first hinge seat 4223 and the first hinge shaft 4224. As the piston rod of the first cylinder 4221 is extended and retracted, its own swing angle changes, and the inclination angle of the first adjustable leveling platform 421 changes accordingly.

[0073] like Fig.34 As shown in the figure, the first material picking and transferring device 53, the second material picking and transferring device 54, the third material picking and transferring device 55, the fourth material picking and transferring device 56 and the fifth material picking and transferring device 57 have the same design structure. Taking the first material picking and transferring device 53 as an example, it is mainly composed of several parts such as the first bearing base 531, the first linear motion element 532, the first cantilever beam 533 and the first adsorption and picking tool 534. Among them, the first bearing base 531 also serves as the installation base of the first material picking and transferring device 53, the second material picking and transferring device 54, the third material picking and transferring device 55, the fourth material picking and transferring device 56 and the fifth material picking and transferring device 57, and can perform XY plane displacement movement under the driving force from the X-direction power unit 51 and the Y-direction power unit 52. The first adsorption and picking tool 534 is used to adsorb and pick up the fuel cell collector plate, and it is supported by the first cantilever beam 533. The first linear motion element 532 (preferably a cylinder with a fast response speed) is used to drive the first cantilever beam 533 and the first adsorption and picking tool 534 to perform Z-axis displacement movement, and it is installed on the first bearing base 531.

[0074] Depend on Fig. 22 , 23 It can also be clearly seen that the X-axis power unit 51 and the Y-axis power unit 52 are preferably motor-driven linear modules to ensure that the first material picking and transferring device 53, the second material picking and transferring device 54, the third material picking and transferring device 55, the fourth material picking and transferring device 56 and the fifth material picking and transferring device 57 all have a response speed of microseconds and an output accuracy of 0.01%.

[0075] like Fig.25 , 26 As shown in , the first optical detection device 61, the second optical detection device 62, the third optical detection device 63 and the fourth optical detection device 64 have the same design structure. Taking the first optical detection device 61 as an example, it includes a first upper AOI visual detection module 611 and a first lower AOI visual detection module 612. The first upper AOI visual detection module 611 is used to pick up the front image of the fuel cell collector plate, which is located directly above the first visual detection stage 42. The first lower AOI visual detection module 612 is used to pick up the back image of the fuel cell collector plate, which is located directly below the first visual detection stage 42 and hidden in the cavity of the machine 1. By adopting the above technical solution for setting, during the whole process of image acquisition, it is not necessary to perform a 180° flip operation on it, and the full image acquisition of the front and back of the fuel cell collector plate can be realized. In this way, not only the occurrence of the error phenomenon caused by the secondary repositioning of the fuel cell collector plate is effectively avoided, but also the conveying rhythm of the fuel cell collector plate is optimized.

[0076] Figure 5 It is a three-dimensional schematic diagram of the fuel cell collector plate loading system disclosed in the present invention. It can be seen that it is mainly composed of several parts such as a carrying fixture 21 and a carrier 22. Among them, the carrying fixture 21 is used to load fuel cell collector plates in batches, and it flows between different stations under the driving force from the carrier 22. With the help of the multi-degree-of-freedom loading manipulator 3, the batch stacked fuel cell collector plates are transferred piece by piece from the carrying fixture 21 to the upstream material temporary storage platform 41.

[0077] like Fig. 9 , 10 As shown in , the transport machinery 22 is mainly composed of a left conveyor 221, a right conveyor 222, a barrier 223 and a transverse drive mechanism 224. The left conveyor 221 and the right conveyor 222 are arranged side by side in the front-to-back direction, and their conveying directions are opposite. The barrier 223 is used to partially isolate the left conveyor 221 and the right conveyor 222, and the full-loaded jig conveying channel 225, the jig transverse flow channel 226 and the empty jig conveying channel 227 are formed. The jig transverse flow channel 226 spans the left conveyor 221 and the right conveyor 222 at the same time, and the only source of the carrying driving force of the full-loaded jig conveying channel 225 is the right conveyor 222, and the only source of the carrying driving force of the empty jig conveying channel 227 is the left conveyor 221. The transverse driving mechanism 224 is used to drive the unloaded carrying fixture 2 to perform displacement movement along the fixture transverse flow channel 226, and the left conveyor 221 and the right conveyor 222 serve as its installation basis.

[0078] In the initial state, the supporting jig 21 fully loaded with batch fuel cell collector plates falls on the right conveyor 222, and under the action of the carrying force, the fully loaded supporting jig 21 flows through the fully loaded jig conveying channel 225 to the jig transverse flow channel 226, and temporarily stays at the loading station; then, the multi-degree-of-freedom loading robot 3 is activated to pick up the fuel cell collector plates one by one, and transfer them to the upstream material temporary storage platform 41 until the fuel cell collector plates are completely emptied; then, the unloaded supporting jig 21 performs displacement movement along the jig transverse flow channel 226 under the action of the driving force from the transverse drive mechanism 224 until it is relative to the unloaded jig conveying channel 227; then, under the action of the carrying force from the left conveyor 221, the unloaded supporting jig 21 flows along the unloaded jig conveying channel 227, and finally stops at the supporting jig recovery station. By adopting the above-mentioned technical solution, on the one hand, under the premise that the number of fuel cell collector plates carried per unit time is guaranteed, the site area required by the fuel cell collector plate loading system is greatly reduced, which is conducive to the implementation of workshop layout design; on the other hand, during the period when the multi-degree-of-freedom loading robot 3 picks up and gradually clears the fuel cell collector plates, both the left conveyor 221 and the right conveyor 222, as well as the transverse drive mechanism 224, are kept in a stopped or idle state, thereby effectively reducing the energy consumption and improving the energy utilization rate.

[0079] It should also be noted here that, according to industry common knowledge, the multi-degree-of-freedom loading robot 3 has design characteristics such as rapid execution of actions, high efficiency, and high precision. Therefore, in actual applications, it can quickly empty the carrier fixture 21, thereby effectively increasing the total number of fuel cell collector plates that can be supplied by the fuel cell collector plate loading system per unit time, laying a good foundation for subsequent matching with the working rhythm of the visual inspection camera.

[0080] like Figure 7 , 8 As shown in , the carrying jig 21 is mainly composed of a base plate 211 and a material blocking assembly 212. The material blocking assembly 212 is composed of a plurality of material blocking members 2121 detachably fixed to the base plate 211 and in an upright state, so that a left-mounted fuel cell collector plate accumulation partition 213 and a right-mounted fuel cell collector plate accumulation partition 214 are formed. In practical applications, the left-mounted fuel cell collector plate accumulation partition 213 and the right-mounted fuel cell collector plate accumulation partition 214 can both be used to batch-accept stacked fuel cell collector plates. Under the premise that the total number of loads is determined, the stacking height of the fuel cell collector plates is controlled within a reasonable value range, thereby greatly improving the carrying stability and safety of the carrying jig 21.

[0081] like Figure 5 , 6As shown in , the fuel cell collector plate loading system 2 is further provided with a position correction mechanism 23. The position correction mechanism 23 is installed on the right conveyor 222. After the fully loaded carrying fixture 21 has stopped relative to the fixture transverse flow channel 226, the position correction mechanism 23 is started to correct its relative position, which lays a good foundation for the subsequent high-efficiency and high-precision picking operation of the multi-degree-of-freedom loading manipulator 3.

[0082] As Fig.13 , 14 As shown in 16, the position guiding mechanism 23 is composed of 4 sets of pin cylinders 231 and guiding sleeves 232. The 4 pin cylinders 231 are all installed on the right conveyor 222 and are hidden under the base plate 211. The base plate 211 is evenly distributed with a plurality of insertion holes 2112 (such as Figure 5 , 6 In actual application, when the fully loaded jig 21 flows through the fully loaded jig conveying channel 225 to the jig traverse channel 226 and temporarily stays at the loading station, the four pin cylinders 231 are simultaneously started, and the pins thereof are able to perform an upward movement. In the process of the guide sleeve 232 being penetrated by the corresponding pin cylinder 231, the relative position of the fully loaded jig 21 is corrected.

[0083] As is known, according to design common sense, the lateral drive mechanism 224 can adopt a variety of design structures to achieve the lateral displacement of the unloaded carrying fixture 21. However, a design structure is simple, easy to manufacture and implement, and the displacement action is extremely stable. Specifically, as follows: Fig.11 , 12 As shown in Figures 14 and 15, the transverse driving mechanism 224 includes a load-bearing frame 2241, a linear module 2242, a lifter 2243 and a force-applying member 2244. The left conveyor 221 and the right conveyor 222 together serve as the installation base of the load-bearing frame 2241, and the load-bearing frame 2241 is hidden under both. The linear module 2242 is used to drive the lifter 2243 to perform transverse movement, and it is installed on the load-bearing frame 2241. The force-applying member 2244 for directly applying a lateral thrust to the substrate 211 is driven by the lifter 2243 (preferably a cylinder with excellent response speed). An avoidance notch 2111 (such as a groove 2111) is provided on the substrate 211 to facilitate the force-applying member 2244 to apply a driving force thereto. Figure 7 , 8 ).

[0084] like Figure 3 As shown in , the multi-degree-of-freedom feeding robot 3 and the multi-degree-of-freedom unloading robot 7 are both supported by the machine, and both have the same design structure. In order to save space, only the multi-degree-of-freedom feeding robot 3 is taken as an example to explain its design structure in detail.

[0085] Fig.17 , Fig.18 The three-dimensional schematic diagrams of the multi-degree-of-freedom loading manipulator in the present invention are shown in two different perspectives. It can be seen that it is mainly composed of two parts: a multi-degree-of-freedom robot arm 31 and an adsorption pick-up tool 32. Among them, the multi-degree-of-freedom robot arm 31 is located on the machine 1 and is fixed in a detachable manner. The adsorption pick-up tool 32 is used to pick up the fuel cell collector plate piece by piece, and it changes its posture due to the driving force from the multi-degree-of-freedom robot arm 31, so that the fuel cell collector plate can be transferred.

[0086] like Fig.19 As shown in FIG. 1 , the suction pick-up tool 32 includes a bearing plate 321 and a plurality of vacuum suction components 322. The plurality of vacuum suction components 322 are all installed on the bearing plate 321 and cooperate with each other to realize vacuum suction of the fuel cell collector plate.

[0087] like Fig.21 As shown in , the vacuum adsorption assembly 322 is mainly composed of several parts such as a carrier plate 3221, a vacuum suction nozzle 3222, an upper nut 3223, and a lower nut 3224. The carrier plate 3221 is in contact with the load-bearing plate 321, and is detachably fixed to the load-bearing plate 321 by means of a fastening assembly 323. A plurality of vacuum suction nozzles 3222 cooperate to pick up the fuel cell collector plate, and are assembled into one with the carrier plate 3221 in an insertion manner. A waist-shaped insertion hole 32211 (such as 32211) that is compatible with the outer diameter of the vacuum suction nozzle 3222 is provided on the carrier plate 3221. Fig. 22 ). When the vacuum nozzle 3222 is inserted into place relative to the carrier plate 3221, the upper nut 3223 and the lower nut 3224 cooperate to tighten it. The outer wall of the vacuum nozzle 3222 is formed with an upper external thread section that matches the upper nut 3223 and a lower external thread section that matches the lower nut 3224.

[0088] Likewise Fig.21 As shown in FIG. 1 , the fastening assembly 323 is composed of a first screw 3231 and a second screw 3232 of the same model and specification. The bearing plate 321 is provided with a threaded hole 3211 (such as Fig. 20). In addition to the waist-shaped insertion hole 32211, the bearing plate 3221 is also formed with a mounting hole 32212 that matches the outer diameter 3231 of the first screw and an arc-shaped hole 32213 for the second screw 3232 to pass freely. After the bearing plate 3221 is preliminarily assembled relative to the bearing plate 321, the first screw 3231 and the second screw 3232 pass through the mounting hole 32212 and the arc-shaped hole 32213 respectively and occupy two adjacent threaded holes 3211. In the process of adjusting the deflection angle of the vacuum adsorption assembly 322, the bearing plate 3221 uses the central axis of the first screw 3231 as the circumferential rotation reference, and the maximum deflection angle and the minimum deflection angle of the bearing plate 3221 are limited under the coordinated action of the second screw 3232 and the arc-shaped hole 32213.

[0089] In actual application, multiple vacuum adsorption components 322 belonging to the adsorption and picking tool 32 cooperate to achieve stable adsorption and picking of fuel cell collector plates, and the adsorption and picking tool 32 is able to change its posture due to the driving force from the multi-degree-of-freedom mechanical arm 31, so that the fuel cell collector plates can be transferred between different stations. In addition, the adsorption and picking tool 32 is adjustable, and workers can easily and quickly adjust the relative positions and deflection angles of multiple vacuum adsorption components 322 to make them suitable for fuel cell collector plates of different models and specifications, thereby effectively expanding the scope of application of the multi-degree-of-freedom picking manipulator for fuel cell collector plates and making it have excellent versatility.

[0090] When the model and specification of the pre-picked fuel cell collector plate changes and exceeds the applicable scope of the adsorption pick-up tool 32, the worker adjusts the relative position of the relevant vacuum adsorption assembly 322 by loosening the upper nut 3223 or the lower nut 3224 to release the tightening of the vacuum suction nozzle 3222, and then drags the vacuum suction nozzle 3222 along the length direction of the carrier plate 3221 until the psychological expectation is met, and then re-tightens the upper nut 3223 or the lower nut 3224. The whole operation process is convenient and fast. Multiple vacuum suction nozzles 3222 can cooperate to utilize the negative pressure effect to achieve the pickup of the fuel cell collector plate. When it is difficult to achieve stable adsorption of the fuel cell collector plate only by adjusting the relative position of the vacuum adsorption assembly 322, the worker needs to adjust the overall swing angle of the vacuum adsorption assembly 322 to further expand the application scope of the adsorption and picking tool 32. Specifically, in the process of adjusting the swing angle of the vacuum adsorption assembly 322, loosen the first screw 3231 and the second screw 3232 to release the restriction on the circumferential rotation freedom of the carrier plate 3221. The carrier plate 3221 is subjected to the rotational torque from the hand and takes the central axis of the first screw 3231 as the circumferential rotation reference. Under the coordinated action of the second screw 3232 and the arc hole 32213, the maximum swing angle and the minimum swing angle of the carrier plate 3221 are limited until the overall swing angle of the vacuum adsorption assembly 322 meets the expected psychological requirements. Then, the first screw 3231 and the second screw 3232 are retightened.

[0091] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A visual inspection device for a fuel cell collector plate, wherein the fuel cell collector plate is divided into n inspection zones, characterized in that: It includes a machine, a fuel cell collector plate loading system, a multi-degree-of-freedom loading robot, a material carrying unit, a material transfer unit, an optical detection unit, a multi-degree-of-freedom unloading robot, a fuel cell collector plate non-conforming temporary storage tooling and a fuel cell collector plate conforming output system; the fuel cell collector plate loading system supplies fuel cell collector plates in batches to the multi-degree-of-freedom loading robot; the multi-degree-of-freedom loading robot picks up the fuel cell collector plates one by one and transfers them to the material carrying unit; under the action of the material transfer unit, the fuel cell collector plates can continue to flow in a step-by-step manner, and in this process, the optical detection unit sequentially performs a comprehensive image pickup operation on n detection partitions of the fuel cell collector plates; with the help of the multi-degree-of-freedom unloading robot, the fuel cell collector plates that pass the visual inspection are transferred from the material carrying unit to the fuel cell collector plate conforming output system, or, the fuel cell collector plates that fail the visual inspection are transferred from the material carrying unit to the fuel cell collector plate non-conforming temporary storage tooling.

2. The fuel cell collector plate visual inspection device according to claim 1, characterized in that: The fuel cell collector plate feeding system includes a carrying jig and a carrier; the carrying jig is used to load fuel cell collector plates in batches, and it circulates under the driving force from the carrier; the carrier includes a left conveyor, a right conveyor, a baffle and a transverse drive mechanism; the left conveyor and the right conveyor are both supported by the machine, and the two are placed side by side, and the conveying directions are opposite; the baffle is used to partially isolate the left conveyor and the right conveyor, and the fully loaded jig A conveying channel, a jig transverse flow channel and an empty jig conveying channel are formed; the jig transverse flow channel spans the left conveyor and the right conveyor at the same time, and the only source of carrying driving force for the fully loaded jig conveying channel is the right conveyor, and the only source of carrying driving force for the empty jig conveying channel is the left conveyor; the transverse driving mechanism is used to drive the empty-carrying jig to perform displacement movement along the jig transverse flow channel, and the left conveyor and the right conveyor together serve as its installation basis.

3. The fuel cell collector plate visual inspection device according to claim 2, characterized in that: The supporting fixture includes a base plate and a material blocking assembly; an avoidance gap is provided on the base plate to facilitate the lateral driving mechanism to apply driving force thereto; the material blocking assembly is composed of a plurality of material blocking members detachably fixed on the base plate and in an upright state, thereby forming a left-mounted fuel cell collector plate accumulation partition and a right-mounted fuel cell collector plate accumulation partition.

4. The fuel cell collector plate visual inspection device according to claim 3, characterized in that: The fuel cell collector plate feeding system also includes a position correction mechanism; the position correction mechanism is installed on the right conveyor; after the fully loaded carrying fixture stops relative to the fixture transverse flow channel, the position correction mechanism is activated to correct its relative position; the position correction mechanism is composed of multiple groups of pin cylinders and correction sleeves; multiple pin cylinders are installed on the right conveyor and hidden under the base plate; multiple insertion holes for the correction sleeves to be embedded are evenly distributed on the base plate; in the process of the correction sleeve being penetrated by the corresponding pin cylinder, the relative position of the fully loaded carrying fixture can be corrected.

5. The fuel cell collector plate visual inspection device according to claim 3, characterized in that: The transverse driving mechanism includes a load-bearing frame, a linear module, a lifter and a force-applying member; the left conveyor and the right conveyor together serve as the installation base of the load-bearing frame, and the load-bearing frame is hidden underneath the two; the linear module is used to drive the lifter to perform transverse movement, and it uses the load-bearing frame as the installation base; the force-applying member used to directly apply lateral thrust to the substrate is driven by the lifter.

6. The visual inspection device for fuel cell collector plates according to claim 1, characterized in that: The multi-degree-of-freedom loading robot and the multi-degree-of-freedom unloading robot are both supported by the machine, and both have the same design structure; the multi-degree-of-freedom loading robot includes a multi-degree-of-freedom robotic arm and an adsorption and picking tool; the adsorption and picking tool is used to pick up fuel cell collector plates one by one, and its posture changes due to the driving force from the multi-degree-of-freedom robotic arm, so that the fuel cell collector plates can be transferred; the adsorption and picking tool includes a load-bearing plate and multiple vacuum adsorption components; the multiple vacuum adsorption components are all installed on the load-bearing plate, and their relative positions and swing angles can be adjusted according to the different specifications of the pre-adsorbed fuel cell collector plates.

7. The visual inspection device for fuel cell collector plates according to claim 6, characterized in that: The vacuum adsorption component includes a carrier plate and a vacuum suction nozzle; the carrier plate is in contact with the load-bearing plate, and is detachably fixed to the load-bearing plate by means of a fastening component; a plurality of vacuum suction nozzles cooperate to pick up the fuel cell collector plate, and are assembled into one with the carrier plate in an insertion manner; a waist-shaped insertion hole that matches the outer diameter of the vacuum suction nozzle is opened on the carrier plate.

8. The visual inspection device for fuel cell collector plates according to claim 7, characterized in that: The fastening assembly is composed of a first screw and a second screw of the same model and specification; a threaded hole that is compatible with the first screw and the second screw is opened on the load-bearing plate; a mounting hole that is compatible with the outer diameter of the first screw and an arc-shaped hole for the second screw to pass freely are formed on the supporting plate; when the supporting plate is preliminarily assembled relative to the load-bearing plate, the first screw and the second screw pass through the mounting hole and the arc-shaped hole respectively and one by one, and occupy two adjacent threaded holes; in the process of adjusting the swing angle of the vacuum adsorption assembly, the supporting plate uses the central axis of the first screw as the circumferential rotation reference, and the maximum swing angle and the minimum swing angle of the supporting plate are limited under the coordinated action of the second screw and the arc-shaped hole.

9. The visual inspection device for fuel cell collector plates according to any one of claims 1 to 8, characterized in that: The material carrying unit, the material transfer unit and the optical inspection unit are all carried by the machine; the material carrying unit is composed of an upstream material temporary storage platform, a first visual inspection platform, a second visual inspection platform, ..., an nth visual inspection platform and a downstream material temporary storage platform, and is arranged in sequence from upstream to downstream; the material transfer unit includes an X-axis power unit, a Y-axis power unit and a first material picking transfer device, a second material picking transfer device, ..., an n+1th material picking transfer device arranged in sequence from upstream to downstream; the optical inspection unit is composed of a first optical inspection device, a second optical inspection device, ..., an nth optical inspection device, and is positioned one-to-one with the first visual inspection platform, the second visual inspection platform, ..., and the nth visual inspection platform; Under the coordinated action of the X-axis power unit and the Y-axis power unit, the first material picking and transferring device, the second material picking and transferring device, ..., the n+1th material picking and transferring device can synchronously perform X-axis displacement movement or Y-axis displacement movement, and the fuel cell collector plate can be transferred from the upstream material temporary storage platform to the downstream material temporary storage platform in a stepping manner, and while stopping at the first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage, the first optical inspection device, the second optical inspection device, ..., the nth optical inspection device independently inspect the n inspection partitions of the fuel cell collector plate one by one.

10. The visual inspection device for fuel cell collector plates according to claim 9, characterized in that: The first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage have the same design structure; the first visual inspection stage includes a first adjustable leveling platform and a first pushing mechanism; a first process notch is formed on the machine; the first adjustable leveling platform is hinged to the machine, and completely covers the first process notch in a flat state; the first pushing mechanism uses the machine as an installation base, and passes through the first process notch to apply a dragging force toward the first adjustable leveling platform, so that the inclination angle α of the first adjustable leveling platform can be changed.

11. The visual inspection device for fuel cell collector plates according to claim 10, characterized in that: The first push mechanism includes a first cylinder, a first bracket assembly, a first hinge seat and a first hinge shaft; the first bracket assembly is detachably fixed to the machine platform and is composed of a first left-placed L-shaped bracket and a first right-placed L-shaped bracket that cooperate to support the first cylinder; the piston rod of the first cylinder is hingedly connected to the first adjustable leveling support platform by means of the first hinge seat and the first hinge shaft; as the piston rod of the first cylinder advances in the extension and retraction process, its own swing angle changes, and the inclination angle α of the first adjustable leveling support platform changes accordingly.

12. The visual inspection device for fuel cell collector plates according to claim 9, characterized in that: The first material picking and transferring device, the second material picking and transferring device, ..., the n+1th material picking and transferring device have the same design structure; the first material picking and transferring device includes a first bearing base, a first linear motion element, a first cantilever beam and a vacuum adsorption tooling; the first bearing base is able to perform XY plane displacement motion under the driving force from the X-axis power unit and the Y-axis power unit; the vacuum adsorption tooling is used to adsorb and pick up the fuel cell collector plate, and it is supported by the first cantilever beam; the first linear motion element is used to drive the first cantilever beam together with the vacuum adsorption tooling to perform Z-axis displacement motion, and it is installed on the first bearing base.

13. The visual inspection device for fuel cell collector plates according to claim 9, characterized in that: The first optical detection device, the second optical detection device, ..., the nth optical detection device have the same design structure; the first optical detection device includes a first upper AOI visual detection module and a first lower AOI visual detection module; the first upper AOI visual detection module is used to pick up the front image of the fuel cell collector plate, and is located directly above the first visual detection stage; The first bottom AOI visual inspection module is used to pick up the back image of the fuel cell collector plate. It is located directly below the first visual inspection stage and hidden in the cavity of the machine.

Images