A bonding and unloading robotic arm for hydrogen fuel cell production

Abstract

The present invention relates to the technical field of hydrogen fuel cell production, and specifically to a laminating and unloading robotic arm for hydrogen fuel cell production, comprising a mobile unloading device installed on a mobile robotic arm, the mobile unloading device comprising a stacking limit frame, a plurality of limit feed ports provided on the side of the stacking limit frame, a stacking detection area provided inside the stacking limit frame, a plurality of inspection ports provided on the side of the stacking detection area, a visual detection camera being installed at each inspection port position, a laminating pushing mechanism for pushing the sheet material downward being installed above the stacking limit frame, a clamping and regulating device being installed on the stacking limit frame, the clamping and regulating device being provided with two clamping ends for clamping the sheet material, the present invention can effectively improve production quality and avoid waste, while improving production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrogen fuel cell production, and in particular to a bonding and unloading robot arm for hydrogen fuel cell production. Background Art

[0002] As an energy conversion device, hydrogen fuel cells rely on the precise bonding and sealing of their core components, bipolar plates (including hydrogen plates and air plates), to ensure battery performance. With the rapid development of the hydrogen energy industry, the large-scale production of electrode plates has placed higher demands on automated equipment.

[0003] Chinese patent number CN211017243U discloses a device for dispensing and laminating hydrogen fuel cell electrode plates. The device includes a multifunctional platform, a first conveying mechanism, a first handling robot, a dispensing mechanism, a Y-axis robot, an X-axis robot, a laminating and pressure-maintaining jig, a handling robot, a second conveying mechanism, a second correction mechanism, a third conveying mechanism, a second handling robot, and a controller. The dispensing mechanism includes a dispensing machine and a visual acquisition device. This patent provides an automated device for laminating graphite plates and dispensing and sealing electrode plates. This device enables automated synthesis of graphite plates and automated dispensing of electrode plates, making it suitable for mechanized mass production and improving product production efficiency. Furthermore, the adhesive strips formed by dispensing provide a good sealing performance, which helps improve product quality.

[0004] While the aforementioned device can automatically transport the hydrogen plate and air plate using the first handling robot, in existing production processes, despite automated handling of the hydrogen plate and air plate, dust or foreign matter is easily retained on the adhesive dispensing surfaces of the plates during transportation. This is because the production environment is not an absolutely dust-free environment, and tiny particles in the air and debris generated by friction during transportation may adhere to the plate surfaces. If this dust and foreign matter is not effectively removed, it will seriously affect the adhesion between the glue and the plate surfaces during the subsequent adhesive dispensing and bonding process.

[0005] During the manufacturing of hydrogen and air plates, fluctuations in raw material quality and differences in processing techniques can easily lead to quality risks such as uneven plate surfaces. Although existing production equipment is equipped with plate flatness detection capabilities, actual testing often results in positive and negative deviations in plate flatness data. This deviation can also be further exacerbated during transportation. When bonding the hydrogen and air plates, if the deviations are in opposite directions—one exhibiting a positive deviation and the other exhibiting a negative deviation—this can lead to uneven gap distribution during gluing. This uneven gap can seriously impact product quality: excessively large gaps prevent the glue from fully and effectively filling the gap, significantly reducing the strength of the connection between the plates. During battery operation, the connection may loosen due to uneven stress or environmental factors, compromising the battery's overall performance and stability. If the gap is too small, the plate will expand during subsequent use due to heat generated during battery operation. Consequently, the originally small gap will not provide sufficient space for the plate expansion, leading to stress concentration between the plates. As stress continues to accumulate, it may eventually cause the board to rupture, which will not only damage the battery but may also cause a safety accident. Summary of the Invention

[0006] In response to the above problems, a bonding and unloading robot arm for hydrogen fuel cell production is provided. By moving the unloading device, the production quality can be effectively improved to avoid waste, while improving production efficiency.

[0007] In order to solve the problems of the existing technology, the present invention provides a bonding and unloading robot arm for hydrogen fuel cell production, including a mobile unloading device installed on the mobile robot arm, the mobile unloading device includes a stacking limit frame, the side of the stacking limit frame is provided with multiple limit feed ports, the interior of the stacking limit frame is provided with a stacking detection area, the side of the stacking detection area is provided with multiple inspection ports, each inspection port is installed with a visual inspection camera, a bonding pushing mechanism for pushing the sheet material downward is installed above the stacking limit frame, and a clamping and controlling device is installed on the stacking limit frame, and the clamping and controlling device is provided with two clamping ends for clamping the sheet material.

[0008] Preferably, the clamping and controlling device includes upper clamping frames installed on both sides of the stacking limit frame, and a blocking clamping plate is installed under each upper clamping frame. The blocking clamping plate and the upper clamping frame are both slidably connected to the stacking limit frame. The clamping and controlling device also includes a pushing switching component that drives the blocking clamping plate and the upper clamping frame to telescopically move.

[0009] Preferably, the push switching assembly includes a plurality of elastic reset heads distributed on the blocking clamping plate and the upper clamping frame, each elastic reset head is provided with a mounting rod that contacts the stacking limit frame, and a first spring is installed between the mounting rod and the elastic reset head. The push switching assembly also includes a synchronous control frame that pushes the elastic reset head to move.

[0010] Preferably, two feed clamping assemblies are installed on the limiting feed port, and the feed clamping assembly includes a mounting bracket installed on the side of the stacking limiting frame, and two movable clamping joints extending toward the limiting feed port are installed on the mounting bracket. The movable clamping joints are provided with guide bevels and limiting guide angles, and a second spring is installed between each movable clamping joint and the mounting bracket.

[0011] Preferably, the fitting pushing mechanism includes a horizontal push plate installed inside the stacking limit frame, the horizontal push plate moves up and down inside the stacking limit frame, and the contact surface of the horizontal push plate is also provided with a flexible layer and a first pressure sensor.

[0012] Preferably, the mobile discharge device also includes a dust cleaning and loading device installed next to the mobile robotic arm, the dust cleaning and loading device includes an adsorption cleaning device, sheet material conveying devices are provided on both sides of the adsorption cleaning device, and a dust cleaning discharge head is installed at the discharge end of the adsorption cleaning device.

[0013] Preferably, the adsorption cleaning device includes a pushing limiter, a central cleaning area is provided inside the pushing limiter, sheet material placement areas are provided on both sides of the central cleaning area, the central cleaning area is connected to the sheet material placement area, a discharge port is provided on one side of the sheet material placement area, pushing inserts for pushing the sheet material to move are installed inside the sheet material placement area, and a mobile adsorption head is installed inside the central cleaning area.

[0014] Preferably, a positioning column for guiding the stacking limit frame is provided on the upper side of the cleaning discharge head, a plurality of material guide channels are provided inside the cleaning discharge head, and an installation channel is also provided inside the cleaning discharge head. The installation channel and the material guide channel are interconnected, and a detachable secondary cleaning component is installed inside the installation channel, and the cleaning end of the secondary cleaning component extends toward the material guide channel.

[0015] Preferably, the secondary cleaning assembly includes two fixed mounting seats, which are respectively installed at the upper and lower ends of the mounting channel. Each fixed mounting seat is provided with two movable seats. A third spring is installed between each movable seat and the fixed mounting seat, and a dust-sticking roller is installed on the movable seat.

[0016] Preferably, the sheet material conveying device includes a material guide rail for limiting the placement of the sheet material, a horizontally movable pressure push plate is installed inside the material guide rail, and a second pressure sensor is installed on the pressure push plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] During the bonding process, the bonding and unloading robotic arm used in hydrogen fuel cell production uses a visual inspection camera to capture multi-view images of the gap between the hydrogen plate and the air plate. Using machine vision algorithms, it accurately analyzes the gap size distribution. If a gap deviation exceeding a preset threshold is detected, the system quickly identifies it as unqualified and promptly transfers the unqualified plate to a pre-processing area, preventing it from entering subsequent processes. This rigorous inspection mechanism ensures that only plates that meet bonding quality standards enter subsequent production, significantly reducing the risk of insufficient joint strength due to uneven gaps.

[0019] 2. The cleaning and loading device equipped with the robotic arm realizes the automatic cleaning and loading operations of the hydrogen plate and the air plate, significantly improving production efficiency and accuracy. The mobile robotic arm can accurately move the stacking limit frame to the side of the cleaning discharge head, realizing the precise docking of the limit feed port and the discharge end of the cleaning discharge head. The plate conveying device conveys the plates to both sides of the adsorption cleaning device according to a preset rhythm. The adsorption cleaning device uses negative pressure adsorption to efficiently remove dust, impurities and other pollutants on the surface of the plates, ensuring the cleanliness of the plate bonding surface. After the cleaning process is completed, the cleaning discharge head uses its guiding function to guide the plates to be accurately inserted into the limit feed port and enter the stacking limit frame in the correct posture and position. The entire process does not require frequent manual intervention, which reduces errors caused by human factors, realizes efficient automation of cleaning and loading operations, and provides strong support for large-scale production.

[0020] 3. Through rational design and precise control, this robotic arm optimizes the hydrogen fuel cell production process and improves resource utilization efficiency. During the fit test phase, it can quickly identify and remove unqualified panels, avoiding ineffective processing of unqualified products in subsequent steps and reducing the waste of raw materials and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional schematic diagram of a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0022] Figure 2 This is a three-dimensional diagram of a mobile discharge device in a bonding discharge robot arm for hydrogen fuel cell production of the present invention. Figure 1 .

[0023] Figure 3 This is a three-dimensional diagram of a mobile discharge device in a bonding discharge robot arm for hydrogen fuel cell production of the present invention. Figure 2 .

[0024] Figure 4 yes Figure 3 A partial enlarged view of point A in the middle.

[0025] Figure 5This is a front view of a mobile discharge device in a bonding and discharge robot arm for hydrogen fuel cell production according to the present invention.

[0026] Figure 6 yes Figure 5 Cross-sectional view at section BB.

[0027] Figure 7 yes Figure 6 A partial enlarged view of point C in the middle.

[0028] Figure 8 It is a three-dimensional schematic diagram of a feed clamping assembly in a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0029] Figure 9 It is a three-dimensional schematic diagram of a dust cleaning and loading device in a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0030] Figure 10 It is a three-dimensional schematic diagram of an adsorption and cleaning device in a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0031] Figure 11 yes Figure 10 A partial enlarged view of point D in the middle.

[0032] Figure 12 It is a three-dimensional schematic diagram of a dust cleaning and discharging head in a bonding and discharging robot arm for hydrogen fuel cell production according to the present invention.

[0033] Figure 13 It is a three-dimensional schematic diagram of a secondary dust cleaning component in a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0034] Figure 14 It is a three-dimensional schematic diagram of a fixed mounting seat in a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0035] Figure 15 It is a three-dimensional schematic diagram of a sheet material conveying device in a bonding and unloading robot arm for hydrogen fuel cell production according to the present invention.

[0036] The numbers in the figure are:

[0037] 1. Mobile robot arm; 2. Stacking limit frame; 21. Inspection port; 22. Limit feed port; 3. Clamping and regulating device; 31. Upper clamping frame; 32. Blocking clamping plate; 33. Pushing switching assembly; 331. Elastic reset head; 3311. Mounting rod; 3312. First spring; 332. Synchronous regulating frame; 333. Pushing and resisting block; 334. First linear drive; 4. Feeding clamping assembly; 41. Mounting bracket; 42. Movable clamping joint; 421. Guide bevel; 422. Limit guide angle; 43. Second spring; 5. Fitting and pushing mechanism; 51. Horizontal push plate; 52. Second linear drive; 6. Visual inspection camera; 7. Dust removal and feeding device; 71. Adsorption Cleaning device; 711, push limiter; 7111, middle cleaning area; 7112, sheet material placement area; 7113, discharge port, 7114, movable adsorption head; 712, push insert; 713, first screw slide; 714, second screw slide; 72, dust cleaning discharge head; 721, positioning column; 722, material guide channel; 723, secondary dust cleaning component; 7231, dust sticking roller; 7232, fixed mounting seat; 7233, movable seat; 7234, third spring; 73, sheet material conveying device; 731, material guide slide; 7311, sliding roller; 7322, conveyor belt; 732, pressure push plate; 733, third screw slide; 8, hydrogen plate; 9, air plate. DETAILED DESCRIPTION

[0038] In order to further understand the features, technical means, specific objectives and functions achieved by the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0039] See also Figures 1 to 15 As shown, a bonding and unloading robot arm for hydrogen fuel cell production includes a mobile unloading device installed on a mobile robot arm 1, the mobile unloading device includes a stacking limit frame 2, a plurality of limit feed ports 22 are provided on the side of the stacking limit frame 2, a stacking detection area is provided inside the stacking limit frame 2, a plurality of inspection ports 21 are provided on the side of the stacking detection area, and a visual detection camera 6 is installed at each inspection port 21. A bonding pushing mechanism 5 for pushing the sheet material downward is installed above the stacking limit frame 2, and a clamping and regulating device 3 is installed on the stacking limit frame 2. The clamping and regulating device 3 is provided with two clamping ends for clamping the sheet material.

[0040] After cleaning, the hydrogen plate 8 and air plate 9 to be bonded are inserted into the stacking limit frame 2 through the limited feed port 22. During the plate insertion process, the bottom of the hydrogen plate 8 is blocked by the clamping end of the clamping and regulating device 3, and it is precisely stopped at the designated inspection port 21, achieving horizontal positioning. The air plate 9 is then moved downward by the bonding and pushing mechanism 5, and the bonding surface of the air plate 9 contacts the top of the hydrogen plate 8. The pushing mechanism then resets, forming the initial bonding state. At this time, the bonding gap between the two plates is located in the area corresponding to the inspection port 21.

[0041] Visual inspection camera 6 captures multi-view images of the assembly gap through inspection port 21 and analyzes the gap size distribution using a machine vision algorithm. If the detected gap deviation exceeds a preset threshold, the system determines it as unqualified. At this point, stacking limit frame 2, driven by mobile robotic arm 1, moves the unqualified panels to a pre-processing area to prevent them from entering subsequent processes.

[0042] If the gap inspection passes, the mobile robotic arm 1 moves the stacking limit frame 2 to the glue dispensing area. During this process, the clamping control device 3 switches its action: it releases the grip on the hydrogen plate 8 and simultaneously clamps both sides of the air plate 9. Under the influence of gravity, the hydrogen plate 8 drops to the glue dispensing station. The glue dispensing equipment precisely applies glue to the glue dispensing surface along a pre-set trajectory, ensuring a uniform amount of glue and a continuous glue line.

[0043] After the dispensing is completed, the mobile robot arm 1 positions the stacking limit frame 2 directly above the hydrogen plate 8. The clamping and regulating device 3 releases the air plate 9, causing it to fall to the dispensing surface of the hydrogen plate 8 under the action of gravity. At the same time, the bonding pushing mechanism 5 applies a controllable thrust to push the air plate 9 to move in the vertical direction to ensure that the bonding surfaces of the two plates are in close contact. During this process, the clamping and regulating device 3 implements limited clamping on the side of the hydrogen plate 8. After the precise bonding of the plates is completed, the pushing mechanism stops and resets. After the bonding is completed, the mobile robot arm 1 grabs the plate combination in the stacking limit frame 2 and transfers it to the storage area.

[0044] Through fit testing and dynamic regulation in the pre-installation stage, the consistency and reliability of panel assembly are effectively improved, and the quality risk of insufficient connection strength due to uneven gaps is reduced.

[0045] See also Figures 1 to 7 As shown, the clamping and regulating device 3 includes an upper clamping frame 31 installed on both sides of the stacking limit frame 2, and a blocking clamping plate 32 is installed under each upper clamping frame 31. The blocking clamping plate 32 and the upper clamping frame 31 are both slidably connected to the stacking limit frame 2. The clamping and regulating device 3 also includes a pushing switching component 33 that drives the blocking clamping plate 32 and the upper clamping frame 31 to telescopically move.

[0046] The sides of the blocking clamping plate 32 and the upper clamping frame 31 are both provided with elastic contact surfaces.

[0047] When the hydrogen plate 8 and the air plate 9 are inserted into the stacking detection area from the limited feed port 22, the pushing switching component 33 pre-drives the blocking clamping plate 32 to extend inward along the slide rail so that the blocking clamping plate 32 contacts the bottom edge of the hydrogen plate 8. Since the blocking clamping plate 32 remains fixed, the hydrogen plate 8 falls to the surface of the blocking clamping plate 32 under the action of gravity, achieving initial positioning in the horizontal direction. The air plate 9 continues to fall until the lower surface of the air plate 9 contacts the upper surface of the hydrogen plate 8, forming a stacking state. At this time, the fitting pushing mechanism 5 applies a preset initial thrust to the air plate 9, so that the two plates are initially fitted together. After the air plate 9 and the hydrogen plate 8 are fitted together, the fitting pushing mechanism 5 will reset, providing a stable detection benchmark for visual inspection.

[0048] When the visual inspection determines that the gap is qualified, the mobile robot 1 moves the device to the glue dispensing area. The push-switch component 33 retracts the blocking clamping plate 32 outward, while the upper clamping frame 31 extends inward. During this process, the blocking clamping plate 32 and the upper clamping frame 31 achieve synchronous movement to ensure smooth force switching between the hydrogen plate 8 and the air plate 9. When the blocking clamping plate 32 is fully retracted to the initial position, the hydrogen plate 8 loses its support and falls to the glue dispensing station under the action of gravity. At the same time, the elastic contact surface of the upper clamping frame 31 is in close contact with the edges on both sides of the air plate 9, so that the air plate 9 remains stationary.

[0049] After the dispensing process is completed, the mobile robotic arm 1 resets the stacking limit frame 2 to directly above the hydrogen plate 8. The pushing switching component 33 performs the action switching again: the upper clamping frame 31 retracts outward, releasing the clamping force on the air plate 9, and the air plate 9 falls freely to the dispensing surface of the hydrogen plate 8 under the action of gravity. During the falling process of the air plate 9, the pushing switching component 33 synchronously drives the blocking clamping plate 32 to extend inward, and the elastic contact surface of the blocking clamping plate 32 contacts the side edge of the hydrogen plate 8. When the air plate 9 contacts the hydrogen plate 8, the fitting pushing mechanism 5 applies a thrust to push the air plate 9 to move in the vertical direction until the hydrogen plate 8 and the air plate 9 fit each other.

[0050] See also Figures 1 to 7 As shown, the push switching assembly 33 includes a plurality of elastic reset heads 331 distributed on the blocking clamping plate 32 and the upper clamping frame 31, each elastic reset head 331 is provided with a mounting rod 3311 that contacts the stacking limit frame 2, and a first spring 3312 is installed between the mounting rod 3311 and the elastic reset head 331. The push switching assembly 33 also includes a synchronous control frame 332 that pushes the elastic reset head 331 to move.

[0051] The push switching assembly 33 realizes the telescopic movement control of the blocking clamping plate 32 and the upper clamping frame 31 through the coordinated action of the synchronous control frame 332 and the elastic reset head 331, thereby achieving the switching of the clamping and releasing actions of the hydrogen plate 8 and the air plate 9.

[0052] In the push-toggle assembly 33, multiple elastic reset heads 331 are mounted on the blocking clamping plate 32 and the upper clamping frame 31, respectively. Each elastic reset head 331 is equipped with a mounting rod 3311 that contacts the stacking limit frame 2. A first spring 3312 is installed between the mounting rod 3311 and the elastic reset head 331, thereby imparting an elastic thrust to the blocking clamping plate 32 and the upper clamping frame 31 to move outward. The synchronous control frame 332 serves as the core control component. Both ends of the synchronous control frame 332 are equipped with push-resistance blocks 333, each of which is equipped with two push-bevel angles. The synchronous control frame 332 is lifted and lowered by a first linear actuator 334 and maintains a sliding connection with the stacking limit frame 2.

[0053] During operation, when the blocking clamping plate 32 needs to be moved inwardly of the stacking limit frame 2, the first linear actuator 334 drives the synchronous control frame 332 downward. During the downward movement of the synchronous control frame 332, the pushing angle of the pushing contact block 333 pushes the elastic reset head 331 on the blocking clamping plate 32, overcoming the outward elastic thrust of the elastic reset head 331 generated by the first spring 3312, causing the blocking clamping plate 32 to overcome the elastic force and move inwardly of the stacking limit frame 2, thereby blocking and positioning the hydrogen plate 8. At this time, the upper clamping frame 31 remains in an outward movement state under the elastic thrust of the elastic reset head 331 and does not participate in the clamping action of the air plate 9.

[0054] When the upper clamping frame 31 needs to be regulated to move inwardly of the stacking limit frame 2, the first linear actuator 334 drives the synchronous control frame 332 to rise. During the upward movement of the synchronous control frame 332, the pushing angle of the pushing contact block 333 pushes the elastic reset head 331 on the upper clamping frame 31, overcoming the outward elastic thrust of the elastic reset head 331 generated by the first spring 3312, causing the upper clamping frame 31 to overcome the elastic force and move inwardly of the stacking limit frame 2, thereby clamping and fixing the air plate 9. At the same time, the blocking clamping plate 32 is prevented from resetting outwardly under the elastic thrust of the elastic reset head 331, releasing the blockage on the hydrogen plate 8, allowing the hydrogen plate 8 to fall to the dispensing station under the action of gravity.

[0055] See also Figures 3 to 8As shown, two feed clamping assemblies 4 are installed on the limiting feed port 22, and the feed clamping assembly 4 includes a mounting bracket 41 installed on the side of the stacking limiting frame 2, and two movable clamping joints 42 extending toward the limiting feed port 22 are installed on the mounting bracket 41. The movable clamping joints 42 are provided with a guide bevel 421 and a limiting guide angle 422, and a second spring 43 is installed between each movable clamping joint 42 and the mounting bracket 41.

[0056] The feed clamping assembly 4 is installed at the limited feed port 22. Through the coordinated action of the movable clamping joint 42 and the second spring 43, the guiding, giving way and limiting functions of the hydrogen plate 8 and the air plate 9 during the insertion process are realized, ensuring that the plates can accurately and stably enter the stacking limit frame 2.

[0057] When the cleaned hydrogen plate 8 and air plate 9 are inserted into the limited feed port 22, the plate edge first contacts the guide bevel 421 of the movable clamping joint 42. As the plate continues to be inserted, the guide bevel 421 is squeezed by the plate, driving the movable clamping joint 42 to overcome the elastic force of the second spring 43 and produce a yielding movement. At this time, the second spring 43 is compressed, and a gap is formed between the movable clamping joint 42 and the limited feed port 22 for the plate to pass through, allowing the hydrogen plate 8 and air plate 9 to smoothly pass through the limited feed port 22 and enter the interior of the stacking limit frame 2.

[0058] After the hydrogen plate 8 and the air plate 9 have completely entered the stacking limit frame 2, the movable clamping joint 42 is no longer subjected to the extrusion force of the plates, and the elastic force of the second spring 43 pushes the movable clamping joint 42 to reset, reclosing the limit feed port 22. After the movable clamping joint 42 is reset, the limit guide angle 422 plays a limiting and guiding role. During the subsequent descent of the plates, the edges of the hydrogen plate 8 and the air plate 9 are limited and constrained, ensuring that the plates descend stably in the vertical direction within the stacking limit frame 2, providing accurate plate position guarantee for subsequent fitting positioning and inspection processes.

[0059] See also Figures 1 to 6 As shown, the fitting pushing mechanism 5 includes a horizontal push plate 51 installed inside the stacking limit frame 2. The horizontal push plate 51 moves up and down inside the stacking limit frame 2. The contact surface of the horizontal push plate 51 is also provided with a flexible layer and a first pressure sensor.

[0060] The horizontal push plate 51 is raised and lowered by a second linear actuator 52. When the air plate 9 needs to be pushed, the second linear actuator 52 is activated, pushing the horizontal push plate 51 downward in the vertical direction. During this movement, the contact surface of the horizontal push plate 51 contacts the air plate 9, and the pushing force is evenly transferred to the air plate 9 through the flexible layer, pushing the air plate 9 downward until its contact surface contacts the top of the hydrogen plate 8, forming an initial contact state.

[0061] During the pressing process, the first pressure sensor continuously monitors the pressing force and provides feedback. The second linear actuator 52 is regulated based on a preset pressure threshold to ensure that the pressing force remains within a safe and effective range, avoiding any impact on the panel lamination quality caused by excessive or insufficient pressure.

[0062] After the air plate 9 and hydrogen plate 8 have completed initial bonding, the second linear actuator 52 stops driving, and the horizontal push plate 51 stops moving and returns to its initial position, preparing for the subsequent glue dispensing and precision bonding process. After glue dispensing is completed, the bonding pushing mechanism 5 is activated again, and the horizontal push plate 51 moves downward under the impetus of the second linear actuator 52, applying a controllable thrust to the air plate 9, pushing the air plate 9 further in the vertical direction, ensuring close contact between the bonding surfaces of the two plates and completing the precise bonding of the plates.

[0063] See also Figure 1 and Figure 9 As shown, the mobile discharge device also includes a dust cleaning and loading device 7 installed next to the mobile robotic arm 1. The dust cleaning and loading device 7 includes an adsorption cleaning device 71. Plate conveying devices 73 are provided on both sides of the adsorption cleaning device 71. A dust cleaning discharge head 72 is installed at the discharge end of the adsorption cleaning device 71.

[0064] During the cleaning and loading of the hydrogen plates 8 and air plates 9, the stacking limit frame 2 is first moved to the side of the cleaning discharge head 72 by moving the robotic arm 1, so that the limit feed port 22 is precisely aligned with the discharge end of the cleaning discharge head 72. Subsequently, the staff places the multiple stacked hydrogen plates 8 and air plates 9 into the corresponding plate conveying device 73.

[0065] The sheet material conveying device 73 is started and, according to a preset conveying rhythm, the stacked hydrogen plates 8 and air plates 9 are sequentially conveyed to both sides of the adsorption cleaning device 71. During the conveying process, the contact surfaces of the hydrogen plates 8 and air plates 9 are kept close to the adsorption cleaning device 71 to facilitate subsequent dust cleaning.

[0066] When the hydrogen plate 8 and the air plate 9 reach the designated position of the adsorption cleaning device 71, the adsorption cleaning device 71 is activated to efficiently clean the bonding surface of the plates. During the cleaning process, the adsorption cleaning device 71 uses negative pressure adsorption to effectively remove dust, impurities and other contaminants on the surface of the plates, ensuring the cleanliness of the bonding surface of the plates.

[0067] After the cleaning process is complete, the adsorption cleaning device 71 pushes the cleaned hydrogen plates 8 and air plates 9 to the cleaning discharge head 72. The cleaning discharge head 72 has a guiding function, which can accurately guide the hydrogen plates 8 and air plates 9 into the limited feed port 22 with the correct posture and position, and then into the stacking limit frame 2. This enables automatic cleaning and loading of the hydrogen plates 8 and air plates 9, effectively improving loading efficiency and accuracy, while ensuring the cleanliness of the plates during the bonding process, providing a strong guarantee for high-quality bonding in hydrogen fuel cell production.

[0068] See also Figures 9 to 11 As shown, the adsorption cleaning device 71 includes a pushing limiter 711, and a middle cleaning area 7111 is provided inside the pushing limiter 711. Sheet material placement areas 7112 are provided on both sides of the middle cleaning area 7111. The middle cleaning area 7111 is connected to the sheet material placement area 7112. A discharge port 7113 is provided on one side of the sheet material placement area 7112. Pushing inserts 712 for pushing the sheet material to move are installed inside the sheet material placement area 7112, and a mobile adsorption head 7114 is installed inside the middle cleaning area 7111.

[0069] The mobile adsorption head 7114 moves up and down in the middle cleaning area 7111 through the first screw slide 713, and the push plate 712 is pushed horizontally by the second screw slide 714. The mobile adsorption head 7114 is connected to the suction device, which is a prior art and will not be described in detail here.

[0070] During the dust cleaning process, the dust cleaning and loading device 7 first pushes the hydrogen plate 8 and the air plate 9 into the plate placement area 7112 on both sides of the adsorption cleaning device 71. When the hydrogen plate 8 and the air plate 9 are moved to the designated position, the mobile adsorption head 7114 in the central cleaning area 7111 begins to work. The mobile adsorption head 7114 is lifted and lowered by the first screw slide 713. During the movement, the mobile adsorption head 7114, which is connected to the suction device, generates a suction force. This suction force acts on the contact surface of the hydrogen plate 8 and the air plate 9, effectively adsorbing and removing dust, impurities and other contaminants on the surface of the plate.

[0071] After the cleaning process is complete, the pusher plate 712 begins to operate. It is pushed horizontally by the second screw slide 714, moving along the sheet placement area 7112 toward the discharge port 7113. The pusher plate 712 propels the cleaned hydrogen plate 8 and air plate 9 through the cleaning discharge head 72 and into the limited feed port 22 of the stacking limit frame 2, completing the discharge process. This effectively cleans the mating surfaces of the hydrogen plate 8 and air plate 9.

[0072] See also Figure 9 and Figure 12As shown, a positioning column 721 for guiding the stacking limit frame 2 is provided on the upper side of the cleaning discharge head 72, a plurality of material guide channels 722 are provided inside the cleaning discharge head 72, and an installation channel is also provided inside the cleaning discharge head 72. The installation channel and the material guide channel 722 are interconnected, and a detachable secondary cleaning component 723 is installed inside the installation channel, and the cleaning end of the secondary cleaning component 723 extends to the material guide channel 722.

[0073] The positioning column 721 set on the upper side of the positioning and docking cleaning and discharging head 72 is used for stable and precise docking with the stacking limit frame 2, ensuring that in the subsequent loading process, the relative position of the cleaning and discharging head 72 and the stacking limit frame 2 is accurate, providing a basis for the accurate insertion of the hydrogen plate 8 and the air plate 9 into the limit feed port 22.

[0074] A plurality of guide channels 722 are provided inside the cleaning and discharging head 72. When the adsorption cleaning device 71 pushes the cleaned hydrogen plate 8 and air plate 9 to the cleaning and discharging head 72, the hydrogen plate 8 and air plate 9 move along the guide channels 722. Guided by the guide channels 722, the hydrogen plate 8 and air plate 9 are guided to the limited feed port 22 in the correct posture and position, and then enter the interior of the stacking and limiting frame 2, realizing automatic loading operation.

[0075] The cleaning and discharging head 72 also has an internal mounting channel interconnected with the material guide channel 722. A removable secondary cleaning assembly 723 is installed within the mounting channel, with the cleaning end of the secondary cleaning assembly 723 extending toward the material guide channel 722. As the hydrogen plate 8 and air plate 9 pass through the material guide channel 722, they come into contact with the secondary cleaning assembly 723, which performs a secondary cleaning process on the hydrogen plate 8 and air plate 9, further improving the cleaning effect of the hydrogen plate 8 and air plate 9, ensuring the cleanliness of the plates during the bonding process, and providing a strong guarantee for high-quality bonding in hydrogen fuel cell production.

[0076] See also Figure 12 and Figure 14 As shown, the secondary cleaning component 723 includes two fixed mounting seats 7232, which are respectively installed at the upper and lower ends of the installation channel. Each fixed mounting seat 7232 is provided with two movable seats 7233, and a third spring 7234 is installed between each movable seat 7233 and the fixed mounting seat 7232, and a dust-sticking roller 7231 is installed on the movable seat 7233.

[0077] Two fixed mounting blocks 7232 are removably mounted at the upper and lower ends of the mounting channel. Each fixed mounting block 7232 is equipped with two movable blocks 7233. The movable blocks 7233 are connected to the fixed mounting blocks 7232 via a third spring 7234, enabling the movable blocks 7233 to elastically retract on the fixed mounting blocks 7232. A dust-binding roller 7231 is mounted on the movable blocks 7233. This acts as the secondary cleaning actuator, directly contacting and cleaning the hydrogen plate 8 and air plate 9.

[0078] As the hydrogen plate 8 and air plate 9 pass through the guide channel 722 of the dust cleaning and discharge head 72, they come into contact with a dust-sticking roller 7231 mounted in the direction of the guide channel 722. Because the movable seat 7233 and the fixed mounting seat 7232 are connected by a third spring 7234, the dust-sticking roller 7231 adaptively contracts according to the thickness and surface roughness of the plates during contact with the mating surfaces of the hydrogen plate 8 and air plate 9. This elastic contraction ensures that the dust-sticking roller 7231 closely adheres to the mating surfaces of the hydrogen plate 8 and air plate 9, effectively adhering to and removing dust and impurities remaining on the plate surfaces, achieving a secondary cleaning effect.

[0079] Fixed mounting bracket 7232 is removable, allowing staff to easily remove and replace sticky roller 7231 when needed. If sticky roller 7231 becomes less effective or damaged due to long-term use, staff can easily remove fixed mounting bracket 7232 and replace it, ensuring that secondary cleaning assembly 723 remains in good working condition and effectively cleans hydrogen plate 8 and air plate 9.

[0080] See also Figure 9 and Figure 15 As shown, the sheet material conveying device 73 includes a material guide rail 731 for limiting the placement of the sheet material, and a horizontally movable pressure push plate 732 is installed inside the material guide rail 731, and a second pressure sensor is installed on the pressure push plate 732.

[0081] The pressure push plate 732 moves horizontally through the third screw slide 733. A plurality of sliding rollers 7311 are provided at the bottom of the material guide slide 731. A conveyor belt 7322 is provided on the outer side of the sliding roller 7311. The conveyor belt 7322 is used to support the plate.

[0082] The material guide rail 731 is used to limit the placement of the hydrogen plate 8 or the air plate 9, provide a stable storage space for the sheet material and guide the movement direction of the sheet material. The conveyor belt 7322 is set at the bottom of the material guide rail 731 to support the sheet material and play a supporting role during the movement of the sheet material. The pressure push plate 732 is installed inside the material guide rail 731 and is horizontally moved by the third screw slide 733. When the hydrogen plate 8 or the air plate 9 is placed in the material guide rail 731, the third screw slide 733 is started to drive the pressure push plate 732 to push and move horizontally. During the movement, the pressure push plate 732 will push the hydrogen plate 8 or the air plate 9 to move horizontally along the material guide rail 731 to realize the transportation of the sheet material. During the movement of the sheet material, the conveyor belt 7322 at its bottom will move accordingly. The conveyor belt 7322 is connected to the bottom of the material guide rail 731 through the sliding roller 7311 to form a continuous support surface. The movement of conveyor belt 7322 effectively reduces friction at the bottom of hydrogen plate 8 or air plate 9 during movement, ensuring smooth and stable movement of the sheet material. A second pressure sensor is mounted on pressure push plate 732 to detect the pushing force in real time. While pressure push plate 732 is pushing the sheet material, the second pressure sensor continuously monitors the pushing force, ensuring it remains within a safe range and preventing damage to hydrogen plate 8 or air plate 9 due to excessive pressure.

[0083] Specific working principle:

[0084] After cleaning, the hydrogen plate 8 and air plate 9 to be bonded are inserted into the stacking limit frame 2 through the limited feed port 22. During the plate insertion process, the bottom of the hydrogen plate 8 is blocked by the clamping end of the clamping and regulating device 3, and it is precisely stopped at the designated inspection port 21, achieving horizontal positioning. The air plate 9 is then moved downward by the bonding and pushing mechanism 5, and the bonding surface of the air plate 9 contacts the top of the hydrogen plate 8. The pushing mechanism then resets, forming the initial bonding state. At this time, the bonding gap between the two plates is located in the area corresponding to the inspection port 21.

[0085] Visual inspection camera 6 captures multi-view images of the assembly gap through inspection port 21 and analyzes the gap size distribution using a machine vision algorithm. If the detected gap deviation exceeds a preset threshold, the system determines it as unqualified. At this point, stacking limit frame 2, driven by mobile robotic arm 1, moves the unqualified panels to a pre-processing area to prevent them from entering subsequent processes.

[0086] If the gap inspection passes, the mobile robotic arm 1 moves the stacking limit frame 2 to the glue dispensing area. During this process, the clamping control device 3 switches its action: it releases the grip on the hydrogen plate 8 and simultaneously clamps both sides of the air plate 9. Under the influence of gravity, the hydrogen plate 8 drops to the glue dispensing station. The glue dispensing equipment precisely applies glue to the glue dispensing surface along a pre-set trajectory, ensuring a uniform amount of glue and a continuous glue line.

[0087] After the dispensing is completed, the mobile robot arm 1 positions the stacking limit frame 2 directly above the hydrogen plate 8. The clamping and regulating device 3 releases the air plate 9, causing it to fall to the dispensing surface of the hydrogen plate 8 under the action of gravity. At the same time, the bonding pushing mechanism 5 applies a controllable thrust to push the air plate 9 to move in the vertical direction to ensure that the bonding surfaces of the two plates are in close contact. During this process, the clamping and regulating device 3 implements limited clamping on the side of the hydrogen plate 8. After the precise bonding of the plates is completed, the pushing mechanism stops and resets. After the bonding is completed, the mobile robot arm 1 grabs the plate combination in the stacking limit frame 2 and transfers it to the storage area.

[0088] Through fit testing and dynamic regulation in the pre-installation stage, the consistency and reliability of panel assembly are effectively improved, and the quality risk of insufficient connection strength due to uneven gaps is reduced.

[0089] The above embodiments merely represent one or more embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of protection of the present invention. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present invention, and such modifications and improvements fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the appended claims.

Claims

1. A bonding and unloading robot arm for hydrogen fuel cell production, comprising a mobile unloading device mounted on a mobile robot arm (1), characterized in that: The mobile unloading device includes a stacking limit frame (2), a plurality of limit feed ports (22) are provided on the side of the stacking limit frame (2), a stacking detection area is provided inside the stacking limit frame (2), a plurality of inspection ports (21) are provided on the side of the stacking detection area, and a visual detection camera (6) is installed at each inspection port (21), a fitting pushing mechanism (5) for pushing the sheet material downward is installed above the stacking limit frame (2), and a clamping control device (3) is installed on the stacking limit frame (2), and the clamping control device (3) is provided with two clamping ends for clamping the sheet material; The clamping and regulating device (3) includes upper clamping frames (31) installed on both sides of the stacking limit frame (2), and a blocking clamping plate (32) is installed below each upper clamping frame (31). The blocking clamping plate (32) and the upper clamping frame (31) are both slidably connected to the stacking limit frame (2). The clamping and regulating device (3) also includes a push-switch assembly (33) for driving the blocking clamping plate (32) and the upper clamping frame (31) to telescopically move. The push-switch assembly (33) includes a plurality of elastic reset heads (331) distributed on the blocking clamping plate (32) and the upper clamping frame (31), each elastic reset head (331) is provided with a mounting rod (3311) that contacts the stacking limit frame (2), and a first spring (3312) is installed between the mounting rod (3311) and the elastic reset head (331). The push-switch assembly (33) also includes a synchronous control frame (332) that pushes the elastic reset head (331) to move. Two feed clamping assemblies (4) are installed on the limited feed opening (22), and the feed clamping assemblies (4) include a mounting bracket (41) mounted on the side of the stacking limit frame (2), and two movable clamping joints (42) extending toward the limited feed opening (22) are installed on the mounting bracket (41), and the movable clamping joints (42) are provided with guide bevels (421) and limit guide angles (422), and a second spring (43) is installed between each movable clamping joint (42) and the mounting bracket (41); The fitting pushing mechanism (5) comprises a horizontal push plate (51) installed inside the stacking limit frame (2). The horizontal push plate (51) moves up and down inside the stacking limit frame (2). The contact surface of the horizontal push plate (51) is also provided with a flexible layer and a first pressure sensor.

2. The bonding and unloading robot arm for hydrogen fuel cell production according to claim 1, characterized in that: The mobile discharge device also includes a dust cleaning and loading device (7) installed beside the mobile mechanical arm (1). The dust cleaning and loading device (7) includes an adsorption cleaning device (71). Both sides of the adsorption cleaning device (71) are provided with a sheet material conveying device (73). The discharge end of the adsorption cleaning device (71) is provided with a dust cleaning discharge head (72).

3. The bonding and unloading robot arm for hydrogen fuel cell production according to claim 2, characterized in that: The adsorption cleaning device (71) comprises a push limiter (711), a middle cleaning area (7111) is provided inside the push limiter (711), sheet material placement areas (7112) are provided on both sides of the middle cleaning area (7111), the middle cleaning area (7111) is connected to the sheet material placement area (7112), a discharge port (7113) is provided on one side of the sheet material placement area (7112), a push insert (712) for pushing the sheet material to move is installed inside the sheet material placement area (7112), and a movable adsorption head (7114) is installed inside the middle cleaning area (7111).

4. The bonding and unloading robot arm for hydrogen fuel cell production according to claim 2, characterized in that: A positioning column (721) for guiding the stacking limit frame (2) is provided on the upper side of the cleaning discharge head (72), a plurality of material guide channels (722) are provided inside the cleaning discharge head (72), and an installation channel is also provided inside the cleaning discharge head (72), the installation channel and the material guide channel (722) are communicated with each other, a detachable secondary cleaning component (723) is installed inside the installation channel, and a cleaning end of the secondary cleaning component (723) extends toward the material guide channel (722).

5. The bonding and unloading robot arm for hydrogen fuel cell production according to claim 4, characterized in that: The secondary dust cleaning component (723) includes two fixed mounting seats (7232), which are respectively mounted at the upper and lower ends of the mounting channel. Each fixed mounting seat (7232) is provided with two movable seats (7233), a third spring (7234) is installed between each movable seat (7233) and the fixed mounting seat (7232), and a dust sticking roller (7231) is installed on each movable seat (7233).

6. The bonding and unloading robot arm for hydrogen fuel cell production according to claim 2, characterized in that: The plate material conveying device (73) comprises a material guide rail (731) for limiting the placement of the plate material, a horizontally movable pressure push plate (732) is installed inside the material guide rail (731), and a second pressure sensor is installed on the pressure push plate (732).

Images