Core graphite assembly method and core graphite assembly device

Abstract

The invention discloses a core graphite assembly method and a core graphite assembly device, and relates to the technical field of nuclear reactor assembly. A suction cup is provided on the core graphite suction device, and graphite is assembled by sucking graphite. Before the core graphite suction device sucks graphite each time, an image of the suction cup surface is obtained by an image acquisition device, and the obtained suction cup surface image is compared in a database, and then the friction coefficient corresponding to the suction cup surface image is obtained. The obtained friction coefficient is compared with a safety threshold to determine whether the friction coefficient meets the safety threshold. If it meets the safety threshold, graphite is continued to be sucked for assembly. If it does not meet the safety threshold, any one or any combination of methods is selected to increase the friction coefficient of the suction cup, increase the suction force of the suction cup, and reduce the safety threshold, and then the friction coefficient is re-detected until the friction coefficient meets the safety threshold, and then graphite is sucked for assembly, thereby solving the problem of friction coefficient attenuation of the graphite suction device after each graphite suction.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear reactor assembly, and in particular to a core graphite assembly method and a core graphite assembly device. Background Art

[0002] As a new type of nuclear power generation device, the small modular molten salt reactor represents an important innovation direction of nuclear energy technology. Its compact reactor body design not only improves the efficiency and safety of the reactor, but also provides strong support for the further development of nuclear energy technology. This innovative reactor design helps to promote the continuous progress of nuclear energy technology and open up a new path for future energy development.

[0003] The compact body of the small modular molten salt reactor consists of three parts: the core module, the barrel assembly module and the integrated top module. The core module mainly performs nuclear reactions to generate the heat required for subsequent power generation, and the graphite in the core and the core periphery is mainly used for heat conduction. Its assembly quality is of great significance to improving the heat exchange efficiency of the nuclear reactor.

[0004] During the assembly of the core periphery fan-shaped graphite, due to the special physical properties of graphite, the limitations of the graphite assembly space and the technical requirements for non-destructive assembly of nuclear-grade graphite, the following technical difficulties are faced in view of the requirements for the assembly of the core periphery graphite:

[0005] (1) There is no adjustable lifting hole on the graphite end face, and the clearance in the circumferential and inner and outer diameter directions is small, which cannot be achieved by grabbing.

[0006] (2) The weight of a single graphite unit exceeds 100 kilograms and the height exceeds 800 mm. In terms of the number of graphite, there are 24 graphite bars in each core, which are heavy and numerous.

[0007] (3) Graphite needs to meet the technical requirements for non-destructive assembly of nuclear-grade graphite.

[0008] (4) Graphite itself is relatively smooth as a lubricant, and the contact friction coefficient between graphite and parts is low. At the same time, due to the self-lubricating properties of graphite, graphite particles remain on the surface of the gripper every time the gripper grasps, causing the friction coefficient between graphite and the gripper to decrease.

[0009] (5) Graphite itself has poor air tightness, which places strict technical requirements on the pipe gas line and vacuum system of the gripping mechanism.

[0010] In view of the special physical properties of core graphite and the special installation requirements of nuclear-grade graphite, there are currently no graphite grippers and corresponding process methods on the market that can solve the above problems. Summary of the invention

[0011] The technical problem to be solved by the present invention is to overcome the defect of friction coefficient attenuation caused by the special physical properties of graphite itself and the technical requirement of non-destructive assembly of graphite faced in the prior art, and to provide a core graphite assembly method and a core graphite assembly device.

[0012] The present invention solves the above technical problems through the following technical solutions:

[0013] The present invention provides a core graphite assembly method, which comprises the following steps:

[0014] S1, controlling the core graphite suction device to suck graphite and assemble it in the core, and before sucking the graphite, executing step S2;

[0015] S2, acquiring a suction cup surface image of the core graphite suction device through an image acquisition device, and comparing the suction cup surface image with a database to obtain a friction coefficient corresponding to the suction cup surface image;

[0016] S3, comparing the obtained friction coefficient with the safety threshold to determine whether the friction coefficient meets the safety threshold; if so, returning to S1 until all the graphite is assembled; if not, executing step S4;

[0017] S4, selecting any one or any combination of methods of increasing the friction coefficient of the suction cup, increasing the suction force of the suction cup, and reducing the safety threshold, and then returning to step S2.

[0018] In this scheme, a suction cup is provided on the core graphite suction device, and graphite is assembled by sucking graphite. The suction cup suction method can reduce the damage to graphite. Before the core graphite suction device sucks graphite each time, the suction cup surface image is obtained by the image acquisition device, and the obtained suction cup surface image is compared and judged in the database, and then the friction coefficient corresponding to the suction cup surface image is obtained. The obtained friction coefficient is compared with the safety threshold to determine whether the friction coefficient meets the safety threshold. If it meets the safety threshold, the graphite is continued to be sucked for assembly. If it does not meet the safety threshold, any one or any combination of methods such as increasing the friction coefficient of the suction cup, increasing the suction force of the suction cup, and reducing the safety threshold is selected, and the friction coefficient is re-tested until the friction coefficient meets the safety threshold, and then the graphite is sucked for assembly until all the graphite is assembled. Since the core graphite suction device has the problem of friction coefficient attenuation after each graphite suction, this method performs friction coefficient detection before each graphite suction device sucks graphite, so that the friction coefficient meets the safety threshold each time the graphite is sucked, and solves the problem of friction coefficient attenuation of the graphite suction device after each graphite suction.

[0019] Preferably, before step S1, the method further includes the following steps:

[0020] S0. Establishing a database of the suction cup surface image and its corresponding friction coefficient.

[0021] In this scheme, before the core graphite suction device sucks graphite for assembly, a database of suction cup surface images and their corresponding friction coefficients is established, so that when the image acquisition device acquires the suction cup surface image, it can be compared with the database to obtain the friction coefficient corresponding to the current suction cup surface image. By setting up a database, the operation of obtaining the friction coefficient is simplified, and the operator does not need to repeatedly detect the friction coefficient each time, thereby improving the efficiency of the core graphite suction device in sucking graphite.

[0022] Preferably, the step S0 specifically includes:

[0023] S01, measuring the friction coefficient of the suction cup by means of a friction coefficient detection device, and acquiring a surface image of the suction cup under a current friction coefficient by means of the image acquisition device;

[0024] S02, operating the suction cup to adsorb the graphite, and repeating step S01 after each adsorption of the graphite, until a database of the suction cup surface images at different adsorption times and their corresponding friction coefficients is established.

[0025] In this scheme, the specific method of establishing the database is as follows: first, the friction coefficient of the suction cup is measured by a friction coefficient detection device, and at the same time, the suction cup surface image under the current friction coefficient is obtained by an image acquisition device, and then the suction cup is operated to adsorb graphite multiple times. After each graphite adsorption, the friction coefficient detection and the acquisition of the suction cup surface image are repeated, and different friction coefficients are matched one by one with the suction cup surface image. After multiple detections, a database of suction cup surface images under different adsorption times and their corresponding friction coefficients is finally established.

[0026] Preferably, the step of:

[0027] S03, setting the safety threshold based on a database;

[0028] S04. Determine the vacuum degree of the suction cups in the core graphite suction device and the number of the suction cups based on the safety threshold.

[0029] In this scheme, before the core graphite suction device sucks graphite for assembly, it is necessary to set a safety threshold based on the data in the database to make the safety threshold more accurate, and determine the vacuum degree of the suction cup and the number of suction cups in the core graphite suction device based on the safety threshold, so that the vacuum degree of the suction cup and the number of suction cups are in a better state before assembly begins, which is more conducive to the core graphite suction device to grab the graphite.

[0030] Preferably, in step S4, increasing the friction coefficient of the suction cup specifically includes: selecting a surface of the suction cup for cleaning, replacing the suction cup, or a combination of the methods;

[0031] The method of increasing the suction force of the suction cup specifically includes: increasing the number of the suction cups, increasing the vacuum degree of the suction cups, or a combination of the two methods.

[0032] In this solution, when the friction coefficient of the suction cup does not meet the safety threshold, it can be adjusted by increasing the friction coefficient of the suction cup, increasing the suction force of the suction cup, and reducing the safety threshold in one or more ways to make the friction coefficient meet the safety threshold. Among them, the way to increase the friction coefficient of the suction cup specifically includes cleaning the graphite powder on the surface of the suction cup, and replacing the suction cup that was originally contaminated with more graphite powder. The way to increase the suction force of the suction cup specifically includes: increasing the number of suction cups. When the number of suction cups increases, the total suction force provided by the suction cup will obviously increase. The suction force of the suction cup can also be increased by increasing the vacuum degree of the suction cup.

[0033] Preferably, in step S4, the surface of the suction cup is cleaned by a dust suction device, and the dust suction device can absorb graphite dust remaining on the surface of the suction cup.

[0034] In this solution, the surface of the suction cup is cleaned by sucking graphite dust on the surface of the suction cup through a dust suction device, thereby removing the graphite dust remaining on the surface of the suction cup and increasing the friction coefficient of the suction cup so that the friction coefficient of the suction cup meets the safety threshold again.

[0035] Preferably, step S2 further includes acquiring a surface image of each suction cup by an image acquisition device, and comparing the surface image of the suction cup with a database to obtain the suction force corresponding to the suction cup;

[0036] Step S3 also includes comparing the total suction force provided by all the suction cups with the suction force required by the graphite to determine whether the total suction force is greater than the suction force required by the graphite;

[0037] If yes, then return to step S1 until all the graphites are assembled; if no, then execute step S4.

[0038] In this scheme, in addition to comparing the friction coefficient with the safety threshold to detect whether the core graphite suction device meets the requirements for adsorbing graphite, the total suction provided by the suction cup and the suction required by the graphite can also be compared to detect whether the core graphite suction device meets the requirements for adsorbing graphite. Specifically, firstly, the image of each suction cup surface is obtained by an image acquisition device, and the suction cup surface image is compared with the database to obtain the suction corresponding to the suction cup, and then the total suction provided by the suction cup is compared with the suction required by the graphite to determine whether the total suction is greater than the suction required by the graphite. If it meets the requirements, the graphite is adsorbed for assembly. If not, any one or any combination of methods of increasing the friction coefficient of the suction cup, increasing the suction of the suction cup, and reducing the safety threshold is selected, and then the total suction is re-tested until the total suction meets the requirements, and then the graphite is adsorbed for assembly until all the graphite is assembled.

[0039] The present invention also provides a core graphite assembly device applied to the above method, the core graphite assembly device includes the core graphite suction device, the image acquisition device for acquiring the suction cup surface image of the core graphite suction device, a friction coefficient detection device for detecting the friction coefficient between the core graphite suction device and the graphite, and a controller, the controller is used to establish a database of the suction cup surface image and friction coefficient of the core graphite suction device, and perform graphite assembly based on comparison between the real-time image of the core graphite suction device and the database.

[0040] In this scheme, the core graphite suction device is used to suck graphite, the image acquisition device is used to obtain the suction cup surface image of the core graphite suction device, the friction coefficient detection device is used to detect the friction coefficient between the core graphite suction device and the graphite, the controller establishes a database of the suction cup surface image and the friction coefficient of the core graphite suction device, and the core graphite assembly device then performs graphite assembly based on the comparison between the real-time image of the core graphite suction device and the database.

[0041] Preferably, the core graphite suction device comprises a side suction cup and a top suction cup, the top suction cup is a single-pleat suction cup, and the number of pleats of the side suction cup is not less than that of the top suction cup.

[0042] In this solution, a single-pleated suction cup increases the suction force of the suction cup device, but its torsional resistance is weak. A suction cup with more pleats increases the torsional resistance of the overall device, but the suction force provided is relatively small. A single-pleated suction cup is used on the top because in the process of the suction cup adsorbing and grabbing graphite, the top of the graphite is first adsorbed by the top suction cup, and then the side suction cup is moved to adsorb the graphite. After the single-pleated suction cup is set on the top, the suction force is large, which is conducive to the vertical lifting movement of the graphite. After the vertical lifting movement of the graphite, it is accelerated horizontally, and the graphite will swing relative to the top suction cup. Therefore, the number of pleats of the side suction cup is set to be greater than the number of pleats of the top suction cup to improve the torsional resistance of the system. If the torsional resistance requirement of the side suction cup is not high, the side suction cup can also be set to a single-pleated suction cup.

[0043] Preferably, the friction coefficient detection device includes a clamp and a vacuum adjustment device, the side suction cup is connected to the clamp, the vacuum adjustment device is connected to the side suction cup, and the vacuum adjustment device is used to adjust the suction force of the side suction cup on the graphite.

[0044] In this solution, the friction coefficient detection device is used to detect the friction coefficient of the side suction cup, the side suction cup is connected to the fixture, so that the side suction cup is fixed on the fixture, the side suction cup absorbs graphite, and the vacuum adjustment device is connected to the side suction cup, so that the vacuum adjustment device can adjust the vacuum pressure of the side suction cup, thereby adjusting the suction force of the side suction cup on the graphite. By adjusting the vacuum pressure provided by the vacuum adjustment device and recording the vacuum pressure provided by the corresponding vacuum adjustment device when the corresponding graphite falls off, the friction coefficient between the side suction cup and the graphite is reversed.

[0045] The positive and progressive effects of the present invention are:

[0046] A suction cup is provided on the core graphite suction device, and graphite is assembled by sucking graphite. The suction cup suction method can reduce the damage to graphite. Before the core graphite suction device sucks graphite each time, the suction cup surface image is obtained by the image acquisition device, and the obtained suction cup surface image is compared and judged in the database, and then the friction coefficient corresponding to the suction cup surface image is obtained. The obtained friction coefficient is compared with the safety threshold to determine whether the friction coefficient meets the safety threshold. If it meets the safety threshold, the graphite is continued to be sucked for assembly. If it does not meet the safety threshold, any one or any combination of methods such as increasing the friction coefficient of the suction cup, increasing the suction force of the suction cup, and reducing the safety threshold is selected, and the friction coefficient is re-tested until the friction coefficient meets the safety threshold, and then the graphite is sucked for assembly until all the graphite is assembled. Since the core graphite suction device has the problem of friction coefficient attenuation after each graphite suction, the method performs friction coefficient detection before the core graphite suction device sucks graphite each time, so that the friction coefficient meets the safety threshold each time the graphite is sucked, and solves the problem of friction coefficient attenuation of the graphite suction device after each graphite suction. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 The figure is a flow chart of a core graphite assembly method according to an embodiment of the present invention.

[0048] Figure 2 It is a schematic diagram of the three-dimensional structure of a core graphite suction device according to an embodiment of the present invention.

[0049] Figure 3 FIG. 4 is a schematic side structural diagram of a suction cup according to an embodiment of the present invention.

[0050] Figure 4 The figure is a schematic diagram of the three-dimensional structure of an image acquisition device according to an embodiment of the present invention acquiring an image of the surface of a suction cup of a core graphite suction device.

[0051] Figure 5 It is a schematic diagram of the three-dimensional structure of a dust suction device according to an embodiment of the present invention sucking dust on the surface of a suction cup.

[0052] Figure 6 It is a schematic side view of the structure of a friction coefficient detection device for detecting the friction coefficient between a suction cup and graphite according to an embodiment of the present invention.

[0053] Figure 7 The figure is a schematic side view of the structure of an image acquisition device according to an embodiment of the present invention acquiring an image of a suction cup surface of a friction coefficient detection device.

[0054] Description of reference numerals:

[0055] Graphite 100

[0056] Core graphite suction device 200

[0057] Suction cup 210

[0058] Top suction cup 211

[0059] Side suction cup 212

[0060] Top plate 221

[0061] Side Panel 222

[0062] Fixing 230

[0063] Image acquisition device 300

[0064] Friction coefficient detection device 400

[0065] Fixture 410

[0066] Air control valve 421

[0067] Vacuum tube 422

[0068] Vacuum Pump 423

[0069] Dust suction device 500 DETAILED DESCRIPTION

[0070] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the following examples.

[0071] like Figure 1-Figure 7 As shown, this embodiment provides a core graphite assembly method, and the core graphite assembly method includes the following steps:

[0072] S1, controlling the core graphite suction device 200 to suck the graphite 100 and assemble it in the core, and before sucking the graphite 100, executing step S2;

[0073] S2, obtaining a suction cup surface image of the core graphite suction device 200 through the image acquisition device 300, and comparing the suction cup surface image with the database to obtain a friction coefficient corresponding to the suction cup surface image;

[0074] S3, comparing the obtained friction coefficient with the safety threshold to determine whether the friction coefficient meets the safety threshold; if so, returning to S1 until all graphites 100 are assembled; if not, executing step S4;

[0075] S4, select any one or any combination of methods of increasing the friction coefficient of the suction cup 210, increasing the suction force of the suction cup 210, and reducing the safety threshold, and then return to step S2.

[0076] The core graphite suction device 200 is provided with a suction cup 210, and the graphite 100 is assembled by sucking the graphite 100. The suction method of the suction cup 210 can reduce the damage to the graphite 100. Before the core graphite suction device 200 sucks the graphite 100 each time, the suction cup surface image is obtained by the image acquisition device 300, and the obtained suction cup surface image is compared and judged in the database, and then the friction coefficient corresponding to the suction cup surface image is obtained. The obtained friction coefficient is compared with the safety threshold to determine whether the friction coefficient meets the safety threshold. If it meets the safety threshold, the graphite 100 is continued to be sucked for assembly. If it does not meet the safety threshold, any one or any combination of methods of increasing the friction coefficient of the suction cup 210, increasing the suction force of the suction cup 210, and reducing the safety threshold is selected, and the friction coefficient is re-tested until the friction coefficient meets the safety threshold, and then the graphite 100 is sucked for assembly until all the graphite 100 are assembled. Since the core graphite suction device 200 has a problem of friction coefficient decay after each time it absorbs graphite 100, the method performs friction coefficient detection before the core graphite suction device 200 absorbs graphite 100 each time, so that the friction coefficient meets the safety threshold each time the graphite 100 is absorbed, thereby solving the problem of friction coefficient decay of the graphite 100 suction device after each time it absorbs graphite 100.

[0077] Before step S1, the following steps are also included:

[0078] S0, establishing a database of the suction cup surface image and its corresponding friction coefficient;

[0079] Before the core graphite suction device 200 sucks graphite 100 for assembly, a database of the suction cup surface image and its corresponding friction coefficient is established, so that when the image acquisition device 300 acquires the suction cup surface image, it can be compared with the database to obtain the friction coefficient corresponding to the current suction cup surface image. By setting up a database, the operation of obtaining the friction coefficient is simplified, and the operator does not need to repeatedly detect the friction coefficient each time, thereby improving the efficiency of the core graphite suction device 200 in sucking graphite 100.

[0080] Step S0 specifically includes:

[0081] S01, measuring the friction coefficient of the suction cup 210 by means of the friction coefficient detection device 400, and acquiring the suction cup surface image under the current friction coefficient by means of the image acquisition device 300;

[0082] S02, operating the suction cup 210 to adsorb the graphite 100, and repeating step S01 each time after adsorbing the graphite 100 and moving the graphite 100 according to the process path and parameters, until a database of suction cup surface images under different adsorption times and their corresponding friction coefficients is established.

[0083] like Figure 6 and Figure 7 As shown, the specific method of establishing the database is as follows: first, the friction coefficient of the suction cup 210 is measured by the friction coefficient detection device 400, and the suction cup surface image under the current friction coefficient is obtained by the image acquisition device 300, and then the suction cup 210 is operated to adsorb graphite 100 for multiple times. After each adsorption of graphite 100, the friction coefficient detection and the acquisition of the suction cup surface image are repeated, and different friction coefficients are matched with the suction cup surface images one by one. After multiple detections, a database of suction cup surface images under different adsorption times and their corresponding friction coefficients is finally established.

[0084] The following steps are also included between step S1 and step S0:

[0085] S03. Setting a security threshold based on a database;

[0086] S04. Determine the vacuum degree of the suction cups 210 and the number of the suction cups 210 in the core graphite suction device 200 based on the safety threshold.

[0087] Before the core graphite suction device 200 sucks graphite 100 for assembly, it is necessary to set a safety threshold based on the data in the database to make the safety threshold more accurate, and determine the vacuum degree of the suction cup 210 and the number of the suction cups 210 in the core graphite suction device 200 based on the safety threshold, so that the vacuum degree of the suction cup 210 and the number of the suction cups 210 are in a better state before assembly begins, which is more conducive to the core graphite suction device 200 to grasp the graphite 100.

[0088] In step S4, increasing the friction coefficient of the suction cup 210 specifically includes: selecting the surface of the suction cup 210 for cleaning, replacing the suction cup 210 or a combination of methods; increasing the suction force of the suction cup 210 specifically includes: selecting increasing the number of suction cups 210, increasing the vacuum degree of the suction cup 210 or a combination of methods.

[0089] When the friction coefficient of the suction cup 210 does not meet the safety threshold, it can be adjusted by one or more of increasing the friction coefficient of the suction cup 210, increasing the suction force of the suction cup 210, and reducing the safety threshold, so that the friction coefficient meets the safety threshold. Among them, the method of increasing the friction coefficient of the suction cup 210 specifically includes cleaning the graphite 100 powder on the surface of the suction cup 210, and replacing the suction cup 210 that is originally contaminated with more graphite 100 powder. The method of increasing the suction force of the suction cup 210 specifically includes: increasing the number of suction cups 210. When the number of suction cups 210 increases, the total suction force provided by the suction cup 210 will obviously increase. The suction force of the suction cup 210 can also be increased by increasing the vacuum degree of the suction cup 210.

[0090] The vacuum degree is adjusted by connecting the suction cup 210, the air control valve and the vacuum pump, and adjusting the air control valve to change the volume of gas extracted by the vacuum pump per unit time, thereby adjusting the vacuum degree.

[0091] like Figure 5 As shown, in step S4, the surface of the suction cup 210 is cleaned by the dust suction device 500. The dust suction device 500 can absorb the graphite 100 dust remaining on the surface of the suction cup 210, thereby removing the graphite 100 dust remaining on the surface of the suction cup 210 and increasing the friction coefficient of the suction cup 210 so that the friction coefficient of the suction cup 210 meets the safety threshold again.

[0092] Step S2 also includes acquiring the surface image of each suction cup by the image acquisition device 300, and comparing the surface image of the suction cup with the database to obtain the suction force corresponding to the suction cup 210;

[0093] Step S3 also includes comparing the total suction force provided by all suction cups 210 with the suction force required by the graphite 100 to determine whether the total suction force is greater than the suction force required by the graphite 100;

[0094] If yes, then go back to step S1 until all the graphites 100 are assembled; if no, then go to step S4.

[0095] In addition to comparing the friction coefficient with the safety threshold to detect whether the core graphite suction device 200 meets the requirements for adsorbing graphite 100, the total suction force provided by the suction cup 210 and the suction force required by the graphite 100 can also be compared to detect whether the core graphite suction device 200 meets the requirements for adsorbing graphite 100. Specifically, firstly, the image acquisition device 300 acquires the surface image of each suction cup, and compares the suction cup surface image with the database to obtain the suction force corresponding to the suction cup 210, and then compares the total suction force provided by the suction cup 210 with the suction force required by the graphite 100 to determine whether the total suction force is greater than the suction force required by the graphite 100. If it meets the requirements, the graphite 100 is adsorbed for assembly. If it does not meet the requirements, any one or any combination of methods of increasing the friction coefficient of the suction cup 210, increasing the suction force of the suction cup 210, and reducing the safety threshold is selected, and then the total suction force is re-tested until the total suction force meets the requirements, and then the graphite 100 is adsorbed for assembly, until all the graphites 100 are assembled.

[0096] In this embodiment, the image acquisition device 300 can display different colors after acquiring the surface image of the suction cup 210 , for example, the suction cup 210 is one color, and the dust on the suction cup 210 is another color, so as to determine the friction coefficient of the suction cup 210 .

[0097] like Figure 2-Figure 7As shown, the present embodiment further provides a core graphite assembly device applied to the above method, the core graphite assembly device comprises a core graphite suction device 200, an image acquisition device 300 for acquiring a suction cup surface image of the core graphite suction device, a friction coefficient detection device 400 for detecting the friction coefficient between the core graphite suction device 200 and the graphite 100, and a controller, the controller being used to establish a database of the suction cup surface image and the friction coefficient of the core graphite suction device 200, and assemble the graphite 100 based on a comparison between the real-time image of the core graphite suction device 200 and the database.

[0098] The core graphite suction device 200 is used to suck graphite 100, the image acquisition device 300 is used to obtain the suction cup surface image of the core graphite suction device 200, the friction coefficient detection device 400 is used to detect the friction coefficient between the core graphite suction device 200 and the graphite 100, the controller establishes a database of the suction cup surface image and the friction coefficient of the core graphite suction device 200, and the core graphite assembly device then assembles the graphite 100 based on the comparison between the real-time image of the core graphite suction device 200 and the database.

[0099] like Figure 2 and Figure 3 As shown, the core graphite suction device 200 includes a fixed plate and a suction cup 210, and the suction cup 210 is movably connected to the fixed plate. The fixed plate includes a top plate 221 and a side plate 222, and the suction cup 210 includes a top suction cup 211 and a side suction cup 212, the top suction cup 211 is arranged on the top plate 221, and the side suction cup 212 is arranged on the side plate 222.

[0100] The top suction cup 211 and the side suction cup 212 are used for adsorbing the plane and side of the graphite 100 respectively. The suction cup 210 is movably connected to the fixed plate so that the position of the suction cup 210 relative to the fixed plate can be adjusted, thereby solving the problem that the graphite 100 is too high to be adsorbed. By adsorbing the top and side surfaces simultaneously, the core graphite adsorption device 200 adsorbs the graphite 100 more stably and can adapt to graphite 100 of different shapes and heights, so that the core graphite adsorption device 200 can adsorb graphite 100 of larger weight.

[0101] The top suction cup 211 can adjust its position along the thickness direction of the top plate 221, and the side suction cup 212 can adjust its position along the thickness direction of the side plate 222. By setting the top suction cup 211 to be able to adjust its position along the thickness direction of the top plate 221, and setting the side suction cup 212 to be able to adjust its position along the thickness direction of the side plate 222, the suction cup 210 can adjust its position in the vertical direction and the horizontal direction of the graphite 100, respectively, which makes it easier for the core graphite suction device 200 to suck the graphite 100.

[0102] In this embodiment, the top suction cup 211 can adjust its position along the thickness direction of the top plate 221, and the side suction cup 212 can adjust its position along the thickness direction of the side plate 222. In other embodiments, the top suction cup 211 can be fixed to the top plate 221, and only the side suction cup 212 can adjust its position along the thickness direction of the side plate 222, or only the top suction cup 211 can adjust its position along the thickness direction of the top plate 221, and the side suction cup 212 can be fixed to the side plate 222. Those skilled in the art can make a choice according to actual needs.

[0103] In this embodiment, the suction cup 210 is connected to the fixed plate by a thread, and the operator can adjust the position of the suction cup 210 by rotating the suction cup 210. When the suction cup 210 is adjusted to a suitable position, the suction cup 210 is fixed to the fixed plate by the fixing member 230. The threaded connection method is more convenient for adjusting the position of the suction cup 210 relative to the fixed plate, and the operator can more conveniently adjust the position of the suction cup 210. In other embodiments, other connection methods of the suction cup 210 and the fixed plate that are considered suitable by those skilled in the art can also be selected.

[0104] The top suction cup 211 is a single-pleat suction cup, and the number of pleats of the side suction cup 212 is not less than that of the top suction cup 211 .

[0105] The process of the core graphite suction device 200 adsorbing graphite 100 is as follows: first, the top suction cup 211 is brought close to the suction cup 210, and the top suction cup 211 is vacuumed, and then the graphite 100 is connected to the top suction cup 211. At this time, the graphite 100 is displaced in the height direction relative to the ground, and then the side suction cup 212 is adjusted to make the side suction cup 212 close to the graphite 100, and then the side suction cup 212 is vacuumed to connect the graphite 100 to the side suction cup 212.

[0106] The single-pleated suction cup increases the suction force of the suction cup device, but the torsion resistance is weak. The suction cup 210 with more pleats increases the torsion resistance of the overall device, but the suction force provided is relatively small. The single-pleated suction cup is used at the top because when the suction cup 210 adsorbs and grabs the graphite 100, the top of the graphite 100 is first adsorbed by the top suction cup 211, and then the side suction cup 212 is moved to adsorb the graphite 100. After the single-pleated suction cup is set at the top, the suction force is large, which is conducive to the vertical lifting movement of the graphite. After the vertical lifting movement of the graphite, the horizontal acceleration movement is performed, and the graphite will swing relative to the top suction cup. Therefore, the number of pleats of the side suction cup 212 is set to be greater than the number of pleats of the top suction cup 211, so as to improve the torsion resistance of the system. If the torsion resistance requirement of the side suction cup 212 is not high, the side suction cup 212 can also be set as a single-pleated suction cup. Those skilled in the art can select the specific number of pleats of the top suction cup 211 and the side suction cup 212 according to actual needs.

[0107] The total suction force provided by the suction cup 210 is calculated by adding the suction forces provided by the top suction cup 211 and the side suction cup 212. The total suction force is: M×F+F×u1+F×u2+…+F×uN. Wherein, M is the number of top suction cups 211, N is the number of side suction cups 212, the theoretical suction force provided by a single suction cup 210 is F, and u represents the friction coefficient of different suction cups 210. There are N side suction cups 212 in total. After multiple adsorption of graphite 100, the friction coefficient of each side suction cup 212 changes and is different, corresponding to u1 to uN. Wherein, F=A×P, A is the adsorption area of ​​the suction cup 210, and P is the vacuum degree.

[0108] like Figure 6 and Figure 7 As shown, the friction coefficient detection device 400 includes a clamp 410 and a vacuum adjustment device. The side suction cup 212 is connected to the clamp 410, and the vacuum adjustment device is connected to the side suction cup 212. The vacuum adjustment device is used to adjust the suction force of the side suction cup 212 on the graphite 100.

[0109] The side suction cup 212 is connected to the fixture 410, so that the side suction cup 212 is fixed on the fixture 410, and the side suction cup 212 absorbs the graphite 100. The contact surface between the graphite 100 and the side suction cup 212 is a contoured surface, and the curvature is the actual curvature of the product. This design helps to reduce measurement deviation.

[0110] The clamp 410 is in a broken line shape, so that the clamp 410 has a vertical part, which is more conducive to fixing the side suction cup 212 and testing the friction coefficient of the side suction cup 212. In other embodiments, other specific shapes of the clamp 410 that are considered appropriate by those skilled in the art can also be selected.

[0111] The vacuum regulating device is connected to the side suction cup 212, and the vacuum regulating device includes an air control valve 421, a vacuum tube 422 and a vacuum pump 423. By adjusting the air control valve 421, the vacuum pressure provided by the vacuum regulating device is regulated, thereby adjusting the suction force of the side suction cup 212 on the graphite 100. A pressure gauge is provided on the air control valve 421, which can be used to read the pressure.

[0112] The graphite 100 itself is subject to gravity, and the side surface is subject to friction generated by the suction force of the side suction cup 212. By adjusting the vacuum pressure provided by the vacuum adjustment device and recording the vacuum pressure provided by the vacuum adjustment device when the graphite 100 falls off, the friction coefficient between the side suction cup 212 and the graphite 100 can be inferred.

[0113] The corresponding formula for friction coefficient detection is: G=F×u=A×P×u, where G is the weight of graphite 100; F is the suction force of the side suction cup 212; u is the friction coefficient between the two; A is the suction area; and P is the vacuum pressure provided by the vacuum adjustment device.

[0114] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate the orientation or positional relationship of the device or element in normal use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation at any time, and therefore cannot be understood as a limitation of the present invention in this regard.

[0115] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A core graphite assembly method, characterized in that: The core graphite assembly method comprises the following steps: S1, controlling the core graphite suction device to suck graphite and assemble it on the core, before sucking the graphite, executing step S2, wherein the core graphite suction device comprises a suction cup, and the suction cup comprises a side suction cup and a top suction cup; S2, acquiring a suction cup surface image of the core graphite suction device through an image acquisition device, and comparing the suction cup surface image with a database to obtain a friction coefficient corresponding to the suction cup surface image, and executing S3; S3, comparing the obtained friction coefficient with the safety threshold, determining whether the friction coefficient meets the safety threshold, and comparing the total suction provided by all the suction cups with the suction required by the graphite, determining whether the total suction is greater than the suction required by the graphite; if so, returning to S1 until all the graphites are assembled; if not, executing step S4; S4, selecting any one or any combination of methods of increasing the friction coefficient of the suction cup, increasing the suction force of the suction cup, and reducing the safety threshold, and then returning to step S2.

2. The core graphite assembly method according to claim 1, characterized in that: Before step S1, the following steps are also included: S0. Establishing a database of the suction cup surface image and its corresponding friction coefficient.

3. The core graphite assembly method according to claim 2, characterized in that: The step S0 specifically includes: S01, measuring the friction coefficient of the suction cup by means of a friction coefficient detection device, and acquiring a surface image of the suction cup under a current friction coefficient by means of the image acquisition device; S02, operating the suction cup to adsorb the graphite, and repeating step S01 after each adsorption of the graphite, until a database of the suction cup surface images at different adsorption times and their corresponding friction coefficients is established.

4. The core graphite assembly method according to claim 3, characterized in that: Also included between step S1 and step S0 are the following steps: S03, setting the safety threshold based on a database; S04. Determine the vacuum degree of the suction cups in the core graphite suction device and the number of the suction cups based on the safety threshold.

5. The core graphite assembly method according to claim 1, characterized in that: In step S4, increasing the friction coefficient of the suction cup specifically includes: selecting a surface of the suction cup for cleaning, replacing the suction cup, or a combination of the methods; The method of increasing the suction force of the suction cup specifically includes: increasing the number of the suction cups, increasing the vacuum degree of the suction cups, or a combination of the two methods.

6. The core graphite assembly method according to claim 5, characterized in that: In step S4, the surface of the suction cup is cleaned by a dust suction device, and the dust suction device can absorb graphite dust remaining on the surface of the suction cup.

7. The core graphite assembly method according to claim 1, characterized in that: Step S2 also includes acquiring a surface image of each suction cup by an image acquisition device, and comparing the suction cup surface image with a database to obtain the suction force corresponding to the suction cup.

8. A core graphite assembly device applied to the core graphite assembly method according to any one of claims 1 to 7, the core graphite assembly device comprising a core graphite suction device, an image acquisition device for acquiring a surface image of the core graphite suction device, a friction coefficient detection device for detecting the friction coefficient between the core graphite suction device and the graphite, and a controller, characterized in that: The controller is used to establish a database of the surface image and friction coefficient of the core graphite suction device, and perform graphite assembly based on the comparison between the real-time image of the core graphite suction device and the database.

9. The core graphite assembly device according to claim 8, characterized in that: The top suction cup is a single-pleat suction cup, and the number of pleats of the side suction cup is not less than the number of pleats of the top suction cup.

10. The core graphite assembly device according to claim 9, characterized in that: The friction coefficient detection device includes a clamp and a vacuum adjustment device, the side suction cup is connected to the clamp, the vacuum adjustment device is connected to the side suction cup, and the vacuum adjustment device is used to adjust the suction force of the side suction cup on the graphite.

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