Full-automatic electric pile maintenance device and control method

Abstract

The invention relates to a full-automatic electric pile maintenance system, which comprises a press assembly device used for disassembling an upper cover plate of an electric pile needing to be maintained and pressing and packaging the maintained electric pile; the servo lifting device is used for being inserted below a floating end plate of the electric pile after the upper cover plate is detached, lifting the reactor core in a free state to a height for maintenance before the single battery is replaced, and descending to enable the reactor core to slowly return to an electric pile shell after the single battery is replaced; the reactor core picking assembly device is used for grabbing the part, which does not need to be repaired, above the to-be-replaced battery in the electric pile lifted by the servo lifting device, and re-placing the part, which does not need to be repaired, above the replaced battery after the battery is replaced; the part replacing mechanical arm module is used for replacing a new battery into the electric pile; and the controller module is used for controlling the press assembly device, the servo lifting device, the reactor core picking assembly device, the part changing mechanical arm module and the operation track module, so that automatic maintenance of the electric pile is realized.

Description

Technical Field

[0001] The invention belongs to the field of fuel cells and relates to an automatic maintenance mechanism and an operation mode for repairing a fuel cell stack. Background Art

[0002] Fuel cells are a clean energy technology that converts chemical energy directly into electrical energy. They have the advantages of high energy conversion efficiency, simple structure, low emissions, and low noise. Most of the current fuel cell stacks are high-power models, and the development trend is also constantly increasing the power of the stack core, so that the number of single cells in the stack core (single cell 1#-n# in series) continues to increase to more than hundreds. In the process of fuel cell stack maintenance, a large amount of manual participation and labor time loss are required. When replacing a single cell in the core, it is impossible to quickly and accurately find and replace the number of single cells that need to be replaced. During the manual maintenance process, it is easy to cause damage to material parts and human strain. Therefore, when repairing fuel cells, speed, success rate and consumption reduction are key improvement goals.

[0003] CN 218482279 U discloses a fuel cell stack maintenance device. It includes a handle assembly, the handle assembly includes a first plate body, the first plate body is used to be provided with a first insert on one side facing the fuel cell stack, the first insert is used to be inserted into the first connecting hole of the fuel cell stack, wherein the first connecting hole is vertically arranged along the height direction of the fuel cell stack and penetrates the fuel cell stack; the outer side surface of the first insert is used to fit with the inner side surface of the first connecting hole; the pad is used to be inserted horizontally between the damaged part and the undamaged part of the fuel cell stack to separate the damaged part from the undamaged part. The utility model can effectively improve the maintenance efficiency of the fuel cell stack, and at the same time ensure that the components of the fuel cell stack are not misaligned after the maintenance is completed.

[0004] However, in the above patent, ① the operation of inserting the gasket laterally between the damaged part and the undamaged part of the fuel cell stack will directly lead to the destruction of the seal between the damaged and undamaged parts (because the sealant line of the single cell is usually unable to exert lateral friction under the action of gravity without abnormalities). When repairing a stack with a large number of cells and the cells to be repaired are in the lower part, it may not even be possible to insert the gasket (because the gravity is too large); ② This method is a manual repair, which cannot avoid the risk of material loss and wrong or missed replacement during the operator's transportation and replacement of cells during repair; ③ This method is only applicable to bare stacks without stack shells, and does not conform to the current mainstream integrated stacks with shells.

[0005] CN 115064735 A discloses a hydrogen fuel cell stack maintenance method, which relates to the technical field of hydrogen fuel cells. A hydrogen fuel cell stack maintenance method includes an inspection platform, a bearing device, a clamping device, a limiting mechanism and a bottom detection device, wherein the bearing device is arranged on the top of the inspection platform, the limiting mechanism is arranged below one side of the bearing device, and the bottom detection device is arranged at the bottom of the inspection platform. The arrangement of the bearing device, the clamping device, the limiting mechanism and the bottom detection device of the present invention can sequentially inspect the circuit board, paperboard and conductive film of the battery stack through the bearing device, the clamping device and the like, and detect the performance of each battery cell assembly through the bottom detection device, thereby providing a maintenance method specifically used for hydrogen fuel cell maintenance, and at the same time providing equipment that can apply the scheme.

[0006] In the description of this patent, it is more inclined to manually check the single cells of the battery stack one by one to see if they meet the performance requirements, and it does not involve many methods for optimizing the maintenance of the battery stack. The methods involved in this patent are the pre-steps of battery stack maintenance, and are mostly used for checking abnormal single cells in the battery stack. This checking process can be directly fed back through the battery stack test bench during the battery stack test. The scope of the invention of this patent does not conflict with this patent.

[0007] The prior art has the following technical problems:

[0008] 1. When manually repairing a battery stack with a large number of cells, it is impossible to quickly find the location of the single battery that needs to be replaced, which increases the necessary non-value-added time;

[0009] 2. When there are many cells that need to be replaced and are located in the middle or lower part of the battery stack, it is impossible to take out the non-repaired sections at the top at one time. The non-repaired sections need to be transported in separate stacks, which can easily cause damage to the non-repaired sections, resulting in unnecessary material loss.

[0010] 3. Manual maintenance requires a lot of manual operation time in the process of replacing a single battery, and it is easy for the new single battery to be replaced in the wrong position or placed in the wrong direction, increasing the probability of secondary repair and causing loss of man-hours;

[0011] 4. Since the battery stack is designed with a high volume-to-power ratio, the operating space of the battery stack shell is limited, which makes it difficult to operate by hand and easily causes human strain;

[0012] 5. Safety hazards that exist during manual maintenance. Summary of the invention

[0013] In order to solve the above problems, the technical solution adopted by the present invention is: a fully automated battery stack maintenance system, comprising:

[0014] Press assembly device: used to dismantle the upper cover plate of the battery stack that needs to be repaired, and to press and package the repaired battery stack;

[0015] Servo lifting device: used to be inserted under the floating end plate of the stack after the upper cover plate is removed, to lift the core in a free state to a height for maintenance before replacing a single cell, and to lower the core to slowly return it to the stack shell after replacing a single cell;

[0016] The core picking assembly device is used to grab the part that does not need to be repaired above the battery to be replaced in the battery stack after being lifted by the servo lifting device, and to put the part that does not need to be repaired again above the replaced battery after the battery is replaced;

[0017] Replacement robot module: replace the new battery into the battery stack;

[0018] Running track module: used to transfer the battery stack that needs to be repaired between the working area of ​​the press assembly device and the working area of ​​the servo lifting device;

[0019] Controller module: used to control the press assembly, servo lifting device, core picking assembly, replacement robot arm module and running track module to realize automated maintenance of the fuel cell stack.

[0020] Further: the press assembly device includes an integrated press head;

[0021] The integrated pressure head includes an automatic bolt tightening device for tightening and removing the bolts of the fuel cell stack;

[0022] It also includes an upper cover picking device, which is used to grab and put down the upper cover of the battery stack after the bolts are removed.

[0023] Further: the running track module includes a slide rail passing under the entire rework mechanism, and a battery stack tray arranged on the slide rail for transporting the battery stack.

[0024] Further: the core picking assembly device includes a core gripper, which is used to grab the batteries that do not need to be replaced above the batteries to be replaced in the battery stack;

[0025] Clamp lifting mechanism: used to control the vertical rise and fall of the core clamp;

[0026] Gripping rail: used for the sliding of the lifting mechanism of the gripping device;

[0027] The holding device track is arranged parallel to and above the slide rail;

[0028] One end of the clamp lifting mechanism is connected to the clamp track, and the other end of the clamp lifting mechanism is connected to the core clamp.

[0029] Further: the core clamp comprises a clamp shell, and a flexible clamping mechanism and a core positioning assembly arranged along the inner wall of the shell,

[0030] The flexible clamping mechanism is used to flexibly clamp the core;

[0031] The core positioning assembly is used to ensure that the core maintains its original lateral positioning when it is transferred between the stack shell and the core holder;

[0032] Counting sensor: counts the single cells entering the core holder;

[0033] Shell positioning pin: used to position the core clamp shell and the stack shell;

[0034] The shell locating pin is arranged on the core clamp shell;

[0035] Positioning locking mechanism: used to lock the core clamp and the stack shell; the positioning locking mechanism is symmetrically arranged at both ends of the clamp shell;

[0036] Propulsion plate: used to assist the core in returning from the core holder to the stack casing.

[0037] Further: the servo lifting device includes a servo lifting mechanism, a slide is arranged on the servo lifting mechanism, a lifting fork is arranged on the slide, and the lifting fork is linked with the slide to extend and retract.

[0038] Further: the replacement robot arm module includes a robot arm, one end of which is provided with a suction cup, and the battery is vacuum-adsorbed by air supply.

[0039] Furthermore: a barcode scanning gun is also provided at one end of the component replacement robot arm to automatically scan the battery adsorbed by the suction cup to meet product traceability requirements.

[0040] Furthermore: it also includes a discard area for caching the single batteries replaced by the battery stack, which is arranged near the working area.

[0041] Any of the above-mentioned methods for operating a fully automated fuel cell stack maintenance system comprises the following steps:

[0042] S1. Place the battery stack that needs to be repaired on the battery stack tray. Assuming that the number of single battery cells that need to be replaced in the battery stack is the Xth section, start the running track;

[0043] S2: The stack tray carrying the stack runs along the running track under the control of the electronic control program and stops automatically after reaching the designated position below the press assembly;

[0044] S3. The control module controls the integrated pressure head to automatically press down and contact the upper cover of the battery stack until the specified assembly force is reached and then stops automatically;

[0045] S4. The automatic bolt tightening device automatically removes the bolts on the stack cover under the control of the control module and stops automatically after reaching the specified time;

[0046] S5. The integrated pressure head automatically moves upward under the control of the control module and stops after reaching the specified position;

[0047] S6. The upper cover picking device automatically grabs the upper cover of the stack under the control of the control module;

[0048] S7. The integrated pressure head automatically moves upward with the upper cover plate of the stack on the upper cover plate picking device and stops after reaching the specified position. At this time, the stack core is in a free state;

[0049] S8. The stack tray carrying the stack runs along the running track under the control of the control module and stops at the designated working area;

[0050] S9. The lifting mechanism of the gripper is connected to the core gripper and automatically moves on the gripper track under the control of the control module. It stops automatically after reaching the designated position. At this time, the core gripper is directly above the fuel cell stack.

[0051] S10. The lifting mechanism of the gripper automatically descends under the control of the control module, the core gripper is positioned with the stack shell through the shell positioning pins, and the lifting mechanism of the gripper descends until the core gripper fits with the upper edge of the stack shell and stops;

[0052] S11. The positioning locking mechanism automatically locks the core clamp and the stack shell under the control of the control module;

[0053] S12. The slide control module automatically extends out under control, and the lifting fork is linked with the slide to be inserted under the floating end plate of the stack, where the floating end plate is a pad under the core;

[0054] S13. The servo lifting device automatically rises under the control of the control module, and the slide is linked with the servo lifting device and rises synchronously with the lifting fork;

[0055] S14. The core of the stack continues to enter the core holder under the action of the lifting fork rising. The core positioning assembly ensures that the core remains stable after entering the core holder without lateral deviation;

[0056] S15. The counting sensor continuously counts the single cells after the core enters the core holder. According to the input of the control module, the number of single cells that need to be replaced in the stack is the Xth section. Assuming that the top single cell is the 1st section, the counting sensor triggers an electrical signal after counting from the 1st section to the X-1th section to stop the servo lifting device from rising;

[0057] S16. The flexible clamping mechanism is automatically inflated under the control of the control module, so that the core in the core clamp is clamped;

[0058] S17. The positioning locking mechanism automatically releases the core clamp and the stack shell under the control of the control module;

[0059] S18. The lifting mechanism of the holding device automatically rises to the designated position under the control of the control module and then stops. The core in the holding device will not fall off when it is clamped by the flexible clamping mechanism;

[0060] S19. Automatic reset under the control of the lifting mechanism control module;

[0061] S20. At this time, the topmost single cell in the battery stack shell is the Xth cell that needs to be replaced;

[0062] S21. The replacement robot arm moves to the designated position above the battery stack shell under the control of the control module and then stops. The barcode scanner automatically scans and records the single battery that needs to be replaced in Section X;

[0063] S22. The suction cup adsorbs Section X under the control of the control module. After adsorption, the replacement arm moves to the discarding area under the action of the electronic control program and stops. The suction cup automatically stops adsorption and discards the material.

[0064] S23. The replacement robot arm moves to the top of the silo under the control of the control module and then stops, the barcode scanner scans and records the new single battery, and the suction cup absorbs the new single battery under the action of the electronic control program;

[0065] S24. The replacement robot arm moves to the designated position above the battery stack shell under the control of the control module and then stops. The suction cup automatically stops adsorption and the new single battery is placed above the core in the battery stack shell. The replacement robot arm automatically resets. At this time, the single battery has been replaced.

[0066] S25. The lifting mechanism of the gripper is connected to the core gripper and automatically moves on the gripper track under the control of the control module, and automatically stops after reaching the designated position. At this time, the core gripper is directly above the fuel cell stack;

[0067] S26. The gripper lifting mechanism automatically descends under the control of the control module, the core gripper is positioned with the stack shell through the shell positioning pins, and the gripper lifting mechanism descends until the core gripper fits with the upper edge of the stack shell and stops;

[0068] S27. The positioning locking mechanism automatically locks the core clamp and the stack shell under the control of the control module;

[0069] S28. The flexible clamping mechanism automatically deflates under the action of the electronic control program, so that the core in the core holder is free;

[0070] S29. The servo lifting device automatically descends under the control of the control module until it is reset, and the slide is linked with the servo lifting device and descends synchronously with the lifting fork;

[0071] S30. While the lifting fork is descending, the push plate automatically pushes the core downward under the control of the control module to assist the core to return from the core holder to the stack shell. After reaching the designated position, the push stops and the core is automatically reset. At this time, the core has been restored;

[0072] S31. The positioning locking mechanism automatically releases the core clamp and the stack shell under the control of the control module;

[0073] S32. The lifting mechanism of the holding device automatically rises and resets under the control of the control module;

[0074] S33. The slide automatically resets under the control of the control module and withdraws from under the floating end plate of the stack with the lifting fork;

[0075] S34. The stack tray carrying the stack runs along the running track under the control of the control module and stops automatically after reaching the designated position below the press assembly;

[0076] S35. The integrated pressure head automatically presses down under the control of the control module and stops after reaching the specified position;

[0077] S36. The upper cover picking device automatically releases the upper cover of the stack under the control of the control module;

[0078] S37. The integrated pressure head continues to press down automatically under the control of the control module and stops after reaching the specified position. At this time, the upper cover of the stack is in contact with the upper edge of the stack shell;

[0079] S38. The automatic bolt tightening device automatically tightens the bolts on the upper cover of the stack under the control of the control module, and automatically stops when the specified torque is reached, and the integrated pressure head automatically resets;

[0080] S39. The stack tray carrying the stack runs along the running track under the control of the control module and resets to the origin. At this time, the stack is automatically repaired and taken offline for subsequent testing;

[0081] S40. If there are multiple cells in the battery stack that need to be repaired, just cycle through steps S14-S28.

[0082] The present invention provides a fully automated stack maintenance device and control method, which has a fully automated stack maintenance function mechanism, improves the efficiency of stack maintenance, avoids human strain, prevents material loss caused by manual maintenance and replacement of core parts and wrong replacement of parts, and greatly reduces the probability of secondary repair. It has the following advantages:

[0083] 1. Can quickly and accurately find the single battery that needs to be replaced;

[0084] 2. When repairing a fuel cell with a large number of sections and the sections at the lower part of the fuel cell stack need to be replaced, it can avoid other abnormal effects such as material loss and time loss of non-repair sections caused by repeated lifting of the core stack;

[0085] 3. The single battery can be replaced automatically, avoiding the long working hours caused by manual operation and accurately ensuring the direction and position of the replaced single battery;

[0086] 4. Single battery replacement can be performed automatically, avoiding human strain caused by limited working space of the battery stack shell or other factors during manual maintenance;

[0087] 5. The battery stack can be repaired automatically, avoiding potential safety hazards during manual maintenance;

[0088] 6. The replacement of single cells in the stack core can be completed under automated conditions;

[0089] 7. During the maintenance process, the core of the non-repaired section can be kept from being disassembled or scattered, and the materials of the non-repaired section can be kept in good condition;

[0090] 8. During the replacement of single cells, the core can be kept positioned without deviation during the movement;

[0091] 9. Completely avoid strain and safety risks during manual maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0093] Figure 1 This is a top view of the fully automated stack maintenance mechanism;

[0094] Figure 2 It is a side view of the fully automated stack maintenance mechanism;

[0095] Figure 3 It is a schematic diagram of the integrated pressure head;

[0096] Figure 4 This is a schematic diagram of the core holding device;

[0097] Figure 5 This is a cross-sectional view of the core holding fixture;

[0098] Figure 6 It is a schematic diagram of the composition of the servo lifting device;

[0099] Figure 7 This is a schematic diagram of the components of the replacement robot arm;

[0100] Figure 8 This is a schematic diagram of the process of disassembling a battery stack;

[0101] Fig. 9 This is a schematic diagram of the battery stack replacement process;

[0102] Figure markings: 1. discarding area, 2. running track module, 2-1. battery stack tray, 3. press assembly, 3-1. integrated pressure head, 3-1-1. automatic bolt tightening device, 3-1-2. automatic upper cover picking device, 4. core picking assembly, 4-1. core gripper, 4-1-1. core positioning assembly, 4-1-2. counting sensor, 4-1-3. flexible clamping mechanism, 4-1-4. shell positioning pin, 4-1-5 positioning locking mechanism, 4-1-6. thrust plate, 4-2. gripper lifting mechanism, 4-3. gripper track, 5. material replacement assembly, 5-1. servo lifting device, 5-1-1. slide, 5-1-2. lifting fork, 5-2. parts replacement robot arm, 5-2-1. suction cup, 5-2-2. barcode scanner, 5-3. silo. DETAILED DESCRIPTION

[0103] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0104] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. 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.

[0105] Figure 1 It is a schematic diagram of a fully automated battery stack maintenance mechanism;

[0106] Figure 2 It is a schematic diagram of a fully automated battery stack maintenance mechanism;

[0107] A fully automated fuel cell stack maintenance system: comprising a discarding area 1, a running track module 2, a press assembly device 3, a core picking assembly device 4, a material replacement assembly device 5, a servo lifting device, and a control module;

[0108] Press assembly device 3: used to dismantle the upper cover plate of the battery stack that needs to be repaired, and to press and package the repaired battery stack;

[0109] Servo lifting device: used to be inserted under the floating end plate of the stack after the upper cover plate is removed, to lift the core in a free state to a height for maintenance before replacing a single cell, and to lower the core to slowly return it to the stack shell after replacing a single cell;

[0110] The core picking assembly device 4 is used to grab the part that does not need to be repaired above the battery to be replaced in the battery stack after being lifted by the servo lifting device, and to put the part that does not need to be repaired again above the replaced battery after the battery is replaced;

[0111] Replacement robot module: replace the new battery into the battery stack;

[0112] Running track module 2: used to transfer the battery stack that needs to be repaired between the working area of ​​the press assembly device and the working area of ​​the servo lifting device;

[0113] Controller module: used to control the press assembly, servo lifting device, core picking assembly, replacement robot arm module and running track module to realize automated maintenance of the fuel cell stack.

[0114] The process for controlling the press assembly device, the servo lifting device, the core picking assembly device, the replacement mechanical arm module and the running track module to realize the automatic maintenance of the fuel cell stack is as follows:

[0115] The press assembly is controlled to remove the cover plate of the battery stack to be repaired. After the cover plate of the battery stack is removed, the control module controls the running track module to transport the disassembled battery stack to the work area, and controls the servo lifting device to lift the core in a free state to a height outside that exceeds the shell, and the core picking assembly and the replacement robot arm module complete the replacement of the new battery, and then controls the core picking assembly to put the part that does not need to be replaced on top of the replaced battery, and then controls the running track module to transport the battery stack with the replaced battery to the bottom of the press assembly to package the battery stack with the replaced batteries.

[0116] The discard area 1 can be used to cache replaced single batteries;

[0117] The running track module 2 includes a slide rail and a battery stack tray 2-1 arranged on the slide rail. The battery stack tray 2-1 can carry the battery stack and slide and stop along the running track 2;

[0118] The press assembly 3 is used to dismantle the battery stack to be repaired and to install the repaired battery stack;

[0119] The press assembly 3 includes a frame and an integrated press head 3-1 arranged below the top of the frame, which can be raised and lowered and press down;

[0120] like Figure 3 As shown, the integrated pressure head 3-1 includes an automatic bolt tightening device 3-1-1, which can tighten and disassemble the bolts of the battery stack to be repaired; the automatic tightening device 3-1-1 uses an electric gun similar to a gun with many heads to tighten and disassemble the bolts of the battery stack to be repaired;

[0121] The integrated pressure head 3-1 also includes an upper cover plate picking device 3-1-2 (similar to an electrically controlled clamp that clamps and releases according to instructions) to grab and put down the upper cover plate of the battery stack; the structure adopted by the upper cover plate picking device 3-1-2 is similar to an electrically controlled clamp that clamps and releases according to instructions;

[0122] The control module controls the battery stack removed from the battery stack tray to move along the slide rail to the working area;

[0123] A core picking assembly device 4 is provided above the working area;

[0124] The core picking assembly device 4 includes a core gripper 4-1, which is used to grab the batteries that do not need to be replaced above the batteries to be replaced in the battery stack;

[0125] The gripper lifting mechanism 4-2 is used to control the vertical rise and fall of the core gripper;

[0126] The holding device track 4-3 is used for the sliding of the holding device lifting mechanism;

[0127] The holding rail 4-3 is arranged parallel to and above the slide rail 2;

[0128] One end of the clamp lifting mechanism 4-2 is connected to the clamp track, and the other end of the clamp lifting mechanism 4-2 is connected to the core clamp.

[0129] The holding device lifting mechanism 4-2 can be controlled by the control system to rise and fall, and the holding device lifting mechanism 4-2 can also be raised and lowered on the holding device track 4-3 by the control system;

[0130] like Figure 4 , 5As shown, the core clamp includes a clamp shell, a flexible clamping mechanism 4-1-3 and a core positioning assembly 4-1-1 arranged along the inner wall of the shell,

[0131] The flexible clamping mechanism is used to flexibly clamp the core;

[0132] The core positioning assembly 4-1-1 and the core positioning accuracy in the stack shell are consistent, so as to ensure that the core can maintain its original lateral positioning when being transferred between the stack shell and the core holder 4-1;

[0133] The core holder also includes a counting sensor 4-1-2, which can count the single cells entering the core holder 4-1;

[0134] The core clamp 4-1 also includes a flexible clamping mechanism 4-1-3, which can be inflated and deflated through a control module to perform flexible clamping;

[0135] The core clamp 4-1 also includes a shell positioning pin 4-1-4, which can position the core clamp 4-1 and the stack shell; the shell positioning pin 4-1-4 is arranged outside the core clamp shell;

[0136] The core clamp 4-1 also includes a locking mechanism 4-1-5, which can lock the core clamp 4-1 and the stack shell; the positioning locking mechanism 4-1-5 is symmetrically arranged at both ends of the clamp shell;

[0137] The core holder 4-1 also includes a propulsion plate 4-1-6, which can assist the core in returning from the core holder 4-1 to the stack casing;

[0138] The material replacement assembly 5 also includes a servo lifting device 5-1, a replacement mechanical arm 5-2, and a material bin 5-3. The servo lifting device 5-1 can be raised and lowered by an electric control program;

[0139] The servo lifting device comprises a servo lifting mechanism, on which a slide 5-1-1 is arranged, and on which a lifting fork 5-1-2 is arranged, and the lifting fork is linked with the slide to be extended and retracted.

[0140] The part-changing robot arm 5-2 can be moved by an electronic control program; the material bin 5-3 can store materials;

[0141] like Figure 6 As shown, the servo lifting device 5-1 includes a slide 5-1-1. The slide 5-1-1 is linked with the servo lifting device 5-1 to rise and fall.

[0142] The slide 5-1-1 can be extended and retracted by the control module;

[0143] like Figure 7 As shown, the part-changing robot arm 5-2 comprises a robot arm, and a suction cup-2-1 is provided at one end of the robot arm;

[0144] The suction cup 5-2-1 can vacuum adsorb the material by supplying air, and the vacuum adsorption of the suction cup 5-2-1 can be started and stopped by an electronic control program;

[0145] One end of the part-changing robot arm is also provided with a barcode scanning gun 5-2-2, which can automatically scan the material adsorbed by the suction cup 5-2-1 to meet the product traceability requirements.

[0146] Embodiment 2:

[0147] like Figure 8 As shown, according to any of the control methods of a fully automated fuel cell stack maintenance system, the method comprises the following steps:

[0148] S1. Place the battery stack that needs to be repaired on the battery stack tray 2-1. Assuming that the number of single battery sections that need to be replaced in the battery stack is section X, start running track 2;

[0149] S2. The stack tray 2-1 carrying the stack runs along the running track 2 under the control of the control module and stops automatically after reaching the designated position below the press assembly 3;

[0150] S3. The integrated pressure head 3-1 is automatically pressed down under the control of the control module, and stops automatically after contacting the upper cover of the battery stack until the specified assembly force is reached;

[0151] S4. The automatic bolt tightening device 3-1-1 automatically removes the bolts on the upper cover of the stack under the control of the control module and stops automatically after reaching the specified time;

[0152] S5. The integrated pressure head 3-1 automatically moves upward under the control of the control module and stops after reaching the specified position;

[0153] S6. The upper cover picking device 3-1-2 automatically grabs the upper cover of the battery stack under the control of the control module;

[0154] S7. The integrated pressure head 3-1 automatically moves upward with the upper cover plate of the stack on the upper cover plate picking device 3-1-2, and stops after reaching the specified position. At this time, the stack core is in a free state;

[0155] S8. The stack tray 2-1 carrying the stack runs along the running track 2 under the control of the control module and stops at the designated position;

[0156] like Fig. 9 As shown, the specific steps are as follows:

[0157] S9. The holding device lifting mechanism 4-2 is connected to the core holding device 4-1 and automatically moves on the holding device track under the control of the control module, and automatically stops after reaching the specified position. At this time, the core holding device 4-1 is directly above the fuel cell stack;

[0158] S10. The gripper lifting mechanism 4-2 automatically descends under the control of the control module, the core gripper 4-1 is positioned with the stack shell through the shell positioning pin 4-1-4, and the gripper lifting mechanism 4-2 descends until the core gripper 4-1 fits with the upper edge of the stack shell and stops;

[0159] S11. The positioning locking mechanism 4-1-5 automatically locks the core clamp 4-1 and the stack shell under the control of the control module;

[0160] S12. The slide 5-1-1 is automatically extended under the control of the control module, and the lifting fork 5-1-2 is linked with the slide 5-1-1 and inserted under the floating end plate of the stack (the floating end plate is a pad under the core);

[0161] S13. The servo lifting device 5-1 automatically rises under the action of the electronic control program, and the slide 5-1-1 is linked with the servo lifting device 5-1, and the lifting fork 5-1-2 rises synchronously;

[0162] S14. The core of the stack continues to enter the core holder 4-1 under the action of the lifting fork 5-1-2 rising. The core positioning assembly 4-1-1 ensures that the core of the stack remains stable after entering the core holder 4-1 without lateral deviation;

[0163] S15. The counting sensor 4-1-2 continuously counts the single cells after the battery stack core enters the core holder 4-1. According to the control module, the number of single cells that need to be replaced in the battery stack is the Xth section. Assuming that the topmost single cell is the 1st section, the counting sensor 4-1-2 triggers an electrical signal to stop the servo lifting device 5-1 from rising after counting from the 1st section to the (X-1)th section.

[0164] S16. The flexible clamping mechanism 4-1-3 is automatically inflated under the control of the control module, so that the core in the core holder 4-1 is clamped;

[0165] S17. The positioning locking mechanism 4-1-5 automatically releases the core clamp 4-1 and the stack shell under the control of the control module;

[0166] S18. The lifting mechanism 4-2 of the holding device automatically rises to the designated position under the control of the control module and then stops. The core in the core holding device 4-1 will not fall off when it is clamped by the flexible clamping mechanism 4-1-3.

[0167] S19. The lifting mechanism 4-2 of the holding device is automatically reset under the control of the control module;

[0168] S20. At this time, the topmost single cell in the battery stack shell is the Xth cell that needs to be replaced;

[0169] S21. The replacement robot arm 5-2 moves to a designated position above the battery stack shell under the control of the control module and then stops, and the barcode scanner 5-2-2 automatically scans and records the single battery that needs to be replaced in Section X;

[0170] S22. The suction cup 5-2-1 adsorbs Section X under the control of the control module. After adsorption, the replacement arm 5-2 moves to the discard area 1 under the control of the control module and stops. The suction cup 5-2-1 automatically stops adsorption and discards the material.

[0171] S23. The replacement robot arm 5-2 moves to the top of the silo 5-3 under the control of the control module and then stops, the barcode scanner 5-2-2 scans and records the new single battery, and the suction cup 5-2- absorbs the new single battery under the control of the control module;

[0172] S24. The replacement robot arm 5-2 moves to the designated position above the battery stack shell under the control of the control module and stops. The suction cup 5-2-1 automatically stops adsorption and places the new single cell above the core in the battery stack shell. The replacement robot arm 5-2 automatically resets. At this time, the single cell has been replaced.

[0173] S25. The holding device lifting mechanism 4-2 is connected to the core holding device 4-1 and automatically moves on the holding device track 4-3 under the control of the control module, and automatically stops after reaching the specified position. At this time, the core holding device 4-1 is directly above the fuel cell stack;

[0174] S26. The gripper lifting mechanism 4-2 automatically descends under the control of the control module, the core gripper 4-1 is positioned with the stack shell through the shell positioning pin 4-1-4, and the gripper lifting mechanism 4-2 descends until the core gripper 4-1 fits with the upper edge of the stack shell and stops;

[0175] S27. The positioning locking mechanism 4-1-5 automatically locks the core clamp 4-1 and the stack shell under the control of the control module;

[0176] S28. The flexible clamping mechanism 4-1-3 automatically deflates under the control of the control module, so that the core in the core holder 4-1 is in a free state;

[0177] S29. The servo lifting device 4-2 automatically descends under the control of the control module until it is reset, and the slide 5-1-1 is linked with the servo lifting device 5-1, and the lifting fork 5-1-2 descends synchronously;

[0178] S30. While the lifting fork 5-1-2 is descending, the push plate 4-1-6 automatically pushes the core downward under the control of the control module to assist the fuel cell core to return from the core holder 4-1 to the fuel cell shell. After reaching the designated position, the push stops and the fuel cell core is automatically reset. At this time, the fuel cell core has been restored;

[0179] S31. The positioning locking mechanism 4-1-5 automatically releases the core holding fixture 4-1 and the stack shell under the control of the control module;

[0180] S32. The lifting mechanism 4-2 automatically rises and resets under the control of the control module;

[0181] S33. The slide 5-1-1 automatically resets under the control of the control module and withdraws from under the floating end plate of the stack with the lifting fork 5-1-2;

[0182] S34. The stack tray 2-1 carrying the stack runs along the running track 2 under the control of the control module and stops automatically after reaching the designated position below the press assembly 3;

[0183] S35. The integrated pressure head 3-1 is automatically pressed down under the control of the control module and stops after reaching the specified position;

[0184] S36. The upper cover picking device 3-1-2 automatically releases the upper cover of the battery stack under the control of the control module;

[0185] S37. The integrated pressure head 3-1 continues to press down automatically under the control of the control module and stops after reaching the specified position. At this time, the upper cover of the stack fits the upper edge of the stack shell;

[0186] S38. The automatic bolt tightening device 3-1-1 automatically tightens the bolts on the upper cover of the stack under the control of the control module, and automatically stops when the specified torque is reached, and the integrated pressure head 3-1 automatically resets;

[0187] S39. The stack tray 2-1 carrying the stack runs along the running track 2 under the control of the control module and resets to the origin. At this time, the stack can be automatically repaired and can be offline for subsequent testing;

[0188] S40. If there are multiple cells in the battery stack that need to be repaired, just loop through steps S14-S28. The fully automatic battery stack repair technical solution of the present invention can achieve automatic battery stack repair without any human intervention in the repair process after inputting the number of cells that need to be replaced. It avoids material loss caused by repeated lifting of materials during manual battery stack repair; loss of working hours caused by too long operation time; human strain caused by operation that does not conform to ergonomics and other abnormal effects caused by limited operating space.

[0189] 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 by 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 fully automated fuel cell stack maintenance system, characterized by: include: Press assembly device: used to dismantle the upper cover plate of the battery stack that needs to be repaired, and to press and package the repaired battery stack; Servo lifting device: used to be inserted under the floating end plate of the stack after the upper cover plate is removed, to lift the core in a free state to a height for maintenance before replacing a single cell, and to lower the core to slowly return it to the stack shell after replacing a single cell; The core picking assembly device is used to grab the part that does not need to be repaired above the battery to be replaced in the battery stack after being lifted by the servo lifting device, and to put the part that does not need to be repaired again above the replaced battery after the battery is replaced; Replacement robot module: replace the new battery into the battery stack; Running track module: used to transfer the battery stack that needs to be repaired between the working area of ​​the press assembly device and the working area of ​​the servo lifting device; Controller module: used to control the press assembly, servo lifting device, core picking assembly, replacement robot arm module and running track module to realize automated maintenance of the fuel cell stack.

2. A fully automated fuel cell stack maintenance system according to claim 1, characterized in that: The press assembly device includes an integrated press head; The integrated pressure head includes an automatic bolt tightening device for tightening and removing the bolts of the fuel cell stack; It also includes an upper cover picking device, which is used to grab and put down the upper cover of the battery stack after the bolts are removed.

3. A fully automated fuel cell stack maintenance system according to claim 1, characterized in that: The running track module includes a slide rail passing under the entire rework mechanism, and a battery stack tray arranged on the slide rail for transporting the battery stack.

4. A fully automated fuel cell stack maintenance system according to claim 1, characterized in that: The core picking assembly device includes a core gripper for grabbing the batteries that do not need to be replaced above the batteries to be replaced in the battery stack; Clamp lifting mechanism: used to control the vertical rise and fall of the core clamp; Gripping rail: used for the sliding of the lifting mechanism of the gripping device; The holding device track is arranged parallel to and above the slide rail; One end of the clamp lifting mechanism is connected to the clamp track, and the other end of the clamp lifting mechanism is connected to the core clamp.

5. The fully automated fuel cell stack maintenance system according to claim 1, characterized in that: The core clamp comprises a clamp shell, a flexible clamping mechanism and a core positioning assembly arranged along the inner wall of the shell, The flexible clamping mechanism is used to flexibly clamp the core; The core positioning assembly is used to ensure that the core maintains its original lateral positioning when it is transferred between the stack shell and the core holder; Counting sensor: counts the single cells entering the core holder; Shell positioning pin: used to position the core clamp shell and the stack shell; The shell locating pin is arranged on the core clamp shell; Positioning locking mechanism: used to lock the core clamp and the stack shell; the positioning locking mechanism is symmetrically arranged at both ends of the clamp shell; Propulsion plate: used to assist the core in returning from the core holder to the stack casing.

6. A fully automated fuel cell stack maintenance system according to claim 1, characterized in that: The servo lifting device comprises a servo lifting mechanism, a slide is arranged on the servo lifting mechanism, a lifting fork is arranged on the slide, and the lifting fork is linked with the slide to be extended and retracted.

7. A fully automated fuel cell stack maintenance system according to claim 1, characterized in that: The component replacement robot arm module includes a robot arm, one end of which is provided with a suction cup, and the battery is vacuum-adsorbed by air supply.

8. The fully automated fuel cell stack maintenance system according to claim 1, characterized in that: A barcode scanning gun is also provided at one end of the component replacement robotic arm to automatically scan the battery adsorbed by the suction cup to meet product traceability requirements.

9. A fully automated fuel cell stack maintenance system according to claim 1, characterized in that: It also includes a discard area for caching the single batteries replaced by the battery stack, which is arranged near the working area.

10. The method for operating a fully automated fuel cell stack maintenance system according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. Place the battery stack that needs to be repaired on the battery stack tray. Assuming that the number of single battery cells that need to be replaced in the battery stack is the Xth section, start the running track; S2: The stack tray carrying the stack runs along the running track under the control of the electronic control program and stops automatically after reaching the designated position below the press assembly; S3. The control module controls the integrated pressure head to automatically press down and contact the upper cover of the battery stack until the specified assembly force is reached and then stops automatically; S4. The automatic bolt tightening device automatically removes the bolts on the stack cover under the control of the control module and stops automatically after reaching the specified time; S5. The integrated pressure head automatically moves upward under the control of the control module and stops after reaching the specified position; S6. The upper cover picking device automatically grabs the upper cover of the stack under the control of the control module; S7. The integrated pressure head automatically moves upward with the upper cover plate of the stack on the upper cover plate picking device and stops after reaching the specified position. At this time, the stack core is in a free state; S8. The stack tray carrying the stack runs along the running track under the control of the control module and stops at the designated working area; S9. The lifting mechanism of the gripper is connected to the core gripper and automatically moves on the gripper track under the control of the control module. It stops automatically after reaching the designated position. At this time, the core gripper is directly above the fuel cell stack. S10. The lifting mechanism of the gripper automatically descends under the control of the control module, the core gripper is positioned with the stack shell through the shell positioning pins, and the lifting mechanism of the gripper descends until the core gripper fits with the upper edge of the stack shell and stops; S11. The positioning locking mechanism automatically locks the core clamp and the stack shell under the control of the control module; S12. The slide control module automatically extends out under control, and the lifting fork is linked with the slide to be inserted under the floating end plate of the stack, where the floating end plate is a pad under the core; S13. The servo lifting device automatically rises under the control of the control module, and the slide is linked with the servo lifting device and rises synchronously with the lifting fork; S14. The core of the stack continues to enter the core holder under the action of the lifting fork rising. The core positioning assembly ensures that the core remains stable after entering the core holder without lateral deviation; S15. The counting sensor continuously counts the single cells after the core enters the core holder. According to the input of the control module, the number of single cells that need to be replaced in the stack is the Xth section. Assuming that the top single cell is the 1st section, the counting sensor triggers an electrical signal after counting from the 1st section to the X-1th section to stop the servo lifting device from rising; S16. The flexible clamping mechanism is automatically inflated under the control of the control module, so that the core in the core clamp is clamped; S17. The positioning locking mechanism automatically releases the core clamp and the stack shell under the control of the control module; S18. The lifting mechanism of the holding device automatically rises to the designated position under the control of the control module and then stops. The core in the holding device will not fall off when it is clamped by the flexible clamping mechanism; S19. Automatic reset under the control of the lifting mechanism control module; S20. At this time, the topmost single cell in the battery stack shell is the Xth cell that needs to be replaced; S21. The replacement robot arm moves to the designated position above the battery stack shell under the control of the control module and then stops. The barcode scanner automatically scans and records the single battery that needs to be replaced in Section X; S22. The suction cup adsorbs Section X under the control of the control module. After adsorption, the replacement arm moves to the discarding area under the action of the electronic control program and stops. The suction cup automatically stops adsorption and discards the material. S23. The replacement robot arm moves to the top of the silo under the control of the control module and then stops, the barcode scanner scans and records the new single battery, and the suction cup absorbs the new single battery under the action of the electronic control program; S24. The replacement robot arm moves to the designated position above the battery stack shell under the control of the control module and then stops. The suction cup automatically stops adsorption and the new single battery is placed above the core in the battery stack shell. The replacement robot arm automatically resets. At this time, the single battery has been replaced. S25. The lifting mechanism of the gripper is connected to the core gripper and automatically moves on the gripper track under the control of the control module, and automatically stops after reaching the designated position. At this time, the core gripper is directly above the fuel cell stack; S26. The gripper lifting mechanism automatically descends under the control of the control module, the core gripper is positioned with the stack shell through the shell positioning pins, and the gripper lifting mechanism descends until the core gripper fits with the upper edge of the stack shell and stops; S27. The positioning locking mechanism automatically locks the core clamp and the stack shell under the control of the control module; S28. The flexible clamping mechanism automatically deflates under the action of the electronic control program, so that the core in the core holder is free; S29. The servo lifting device automatically descends under the control of the control module until it is reset, and the slide is linked with the servo lifting device and descends synchronously with the lifting fork; S30. While the lifting fork is descending, the push plate automatically pushes the core downward under the control of the control module to assist the core to return from the core holder to the stack shell. After reaching the designated position, the push stops and the core is automatically reset. At this time, the core has been restored; S31. The positioning locking mechanism automatically releases the core clamp and the stack shell under the control of the control module; S32. The lifting mechanism of the holding device automatically rises and resets under the control of the control module; S33. The slide automatically resets under the control of the control module and withdraws from under the floating end plate of the stack with the lifting fork; S34. The stack tray carrying the stack runs along the running track under the control of the control module and stops automatically after reaching the designated position below the press assembly; S35. The integrated pressure head automatically presses down under the control of the control module and stops after reaching the specified position; S36. The upper cover picking device automatically releases the upper cover of the stack under the control of the control module; S37. The integrated pressure head continues to press down automatically under the control of the control module and stops after reaching the specified position. At this time, the upper cover of the stack is in contact with the upper edge of the stack shell; S38. The automatic bolt tightening device automatically tightens the bolts on the upper cover of the stack under the control of the control module, and automatically stops when the specified torque is reached, and the integrated pressure head automatically resets; S39. The stack tray carrying the stack moves along the running track under the control of the control module and resets to the origin. At this time, the stack is automatically repaired and taken offline for subsequent testing; S40. If there are multiple cells in the battery stack that need to be repaired, just cycle through steps S14-S28.

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