Device and method for losslessly grabbing non-magnetic net-shaped metal sheet based on partition paper intermediary

Abstract

The invention discloses a device and method for lossless grabbing of a non-magnetic net-shaped metal sheet based on a partition paper intermediary, the device comprises a device bottom plate, a first mounting plate capable of ascending and descending, a plurality of lossless clamping mechanisms and a positioning mechanism, and the positioning mechanism is used for pushing and positioning the net-shaped metal sheet; the lossless clamping mechanism is used for losslessly clamping or releasing the net-shaped metal sheet; a side connecting plate is further arranged on the side edge of the device bottom plate, a second mounting plate is connected to the side connecting plate, a Bernoulli suction cup is arranged at the bottom of the second mounting plate, and the Bernoulli suction cup is used for picking up or releasing partition paper below the net-shaped metal sheet in a lossless mode so that the net-shaped metal sheet can be lifted together. A plurality of suction cup assemblies are further arranged on the periphery of the second mounting plate; according to the device and the method, the PEM titanium mesh and other ultrathin porous metal plates can be safely, stably and automatically grabbed and separated under the condition that the PEM titanium mesh and other ultrathin porous metal plates do not need to be in direct contact with the device.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing and precision automation technology for new energy equipment, specifically to a device and method for non-destructive gripping of non-magnetic mesh metal sheets based on the Bernoulli effect and the intermediary of a paper liner. More specifically, it relates to a non-contact, zero-damage automatic gripping method and device for titanium mesh / porous metal sheets in a PEM electrolyzer (proton exchange membrane electrolyzer), which is particularly suitable for gripping ultra-thin porous metal workpieces with a precious catalytic coating on the surface, which are easily damaged and easily adhere to the liner paper. Background Technology

[0002] In the automated assembly of electrolysis chambers in PEM electrolyzers, ultrathin titanium fiber mesh or porous titanium plates with functional coatings are key components. Their handling faces three major challenges: first, the surface is extremely sensitive; any physical contact or friction can damage the expensive catalytic coating, severely impacting battery performance and lifespan; second, the highly porous structure causes traditional vacuum suction cups to fail due to severe leakage; and third, the special condition of the incoming material—the titanium mesh is usually stacked with a protective separator paper, resulting in slight adhesion between the two due to static electricity or van der Waals forces.

[0003] Existing technical solutions all have obvious limitations: (1) Direct contact gripping (mechanical clamps, suction cups): The risk of scratching or contaminating the surface of the titanium mesh cannot be avoided.

[0004] (2) Pure negative pressure adsorption: This is for porous structures where efficiency is low and the edge of the suction cup may still contact the workpiece.

[0005] (3) Electromagnetic adsorption: Titanium mesh is non-magnetic and cannot be used.

[0006] Therefore, this process in existing production lines heavily relies on manual labor, resulting in low efficiency and poor consistency. There is an urgent need for an automated gripping solution that can achieve completely non-contact, zero-damage, and highly reliable operation. Summary of the Invention

[0007] The purpose of this invention is to address the problems existing in the prior art by providing a device and method for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary. By combining "paper intermediary" with "Bernoulli non-contact suction", ultra-thin porous metal sheets such as PEM titanium mesh can be safely, stably, and automatically gripped and separated without direct contact with the sheets themselves.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, a device for non-destructively grasping a non-magnetic mesh metal sheet based on a paper intermediary is provided, comprising a device base plate, a liftable first mounting plate below the device base plate, multiple non-destructive clamping mechanisms and positioning mechanisms respectively provided on multiple sides of the first mounting plate, the positioning mechanism being used for pushing and positioning the mesh metal sheet, and the non-destructive clamping mechanism being used for non-destructively clamping or releasing the mesh metal sheet; a side connecting plate is also provided on the side of the device base plate, the side connecting plate being connected to a second mounting plate, the second mounting plate being located below the first mounting plate, one or more Bernoulli suction cups being provided at the bottom of the second mounting plate, the Bernoulli suction cups being used for non-destructively picking up or releasing the paper intermediary below the mesh metal sheet, so that the mesh metal sheet is lifted together, and a number of suction cup assemblies are also provided around the second mounting plate, the suction cup assemblies being used for adsorbing or releasing the edges of the paper intermediary.

[0009] Furthermore, a vertical connecting plate is provided on the outer side of the side connecting plate, a vertical moving module is connected to the outer side of the vertical connecting plate, a horizontal moving module is connected to the vertical moving module, and a vision unit is connected to the horizontal moving module for identifying workpieces and guiding alignment.

[0010] Furthermore, a distance sensor is provided on the outer side of the side connecting plate, and the distance sensor is used for height detection.

[0011] Furthermore, the device base plate is provided with multiple lifting drive components, the output end of which is connected downward to the first mounting plate. The first mounting plate is also provided with multiple guide columns, which are slidably connected to the device base plate.

[0012] Furthermore, the long side of the first mounting plate is provided with a pair of non-destructive clamping mechanisms and a positioning mechanism, the positioning mechanism being located between the pair of non-destructive clamping mechanisms, and the short side of the first mounting plate is provided with a non-destructive clamping mechanism.

[0013] Furthermore, the non-destructive clamping mechanism includes a first drive unit connected to the first mounting plate, the output end of the first drive unit is connected to a vertical first connecting plate, a flexible gripper is provided below the first connecting plate, a second drive unit is provided on the inner side of the first connecting plate, and the output end of the second drive unit is connected to a liftable pressure plate, the pressure plate cooperates with the flexible gripper to clamp the mesh metal sheet.

[0014] Furthermore, the positioning mechanism includes a second connecting plate connected to the first mounting plate, a third driving unit is provided on the second connecting plate, the output end of the third driving unit is connected to a vertical positioning plate, and the lower end of the positioning plate is provided with a positioning groove.

[0015] Furthermore, the suction cup assembly includes a connecting rod, one end of which is connected to the second mounting plate and the other end of which is connected to a suction cup, the connecting rod extending outward along the edge of the second mounting plate.

[0016] Furthermore, the mesh metal sheet is a 0.1-0.5 mm thick titanium fiber mesh or porous titanium plate, with a Pt / Ir catalyst coated on the surface, and the separator is a PET film or a Teflon film.

[0017] Secondly, a method for non-destructively grasping a non-magnetic mesh metal sheet based on a paper-intermediate medium is provided. The method employs the aforementioned apparatus for non-destructively grasping a non-magnetic mesh metal sheet based on a paper-intermediate medium, and includes the following steps: The device is moved to the material picking position, and the second mounting plate is adjusted to a suitable position directly above the mesh metal sheet to be picked up according to the detected stacking state and height position. Activate the Bernoulli suction cup and the suction cup assembly to attract the paper under the mesh metal sheet to be grasped, and the paper is lifted up together with the mesh metal sheet; The device is transferred to the separation station, and the suction cup assembly releases the vacuum, releasing the adsorption around the partition paper; The non-destructive clamping mechanism holds the mesh metal sheet from the side. After the positioning mechanism positions the mesh metal sheet, the non-destructive clamping mechanism clamps the edge of the mesh metal sheet. The Bernoulli suction cup releases the vacuum, and the paper, which has lost its negative pressure adsorption, separates from the mesh metal plate under the action of gravity and falls to the recycling device. The device is transferred to the unloading position, and the non-destructive clamping mechanism releases the mesh metal sheet; The device is transferred to the material handling position to begin the next cycle.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the above improvements, this device can safely, stably, and automatically grasp and separate ultra-thin porous metal plates such as PEM titanium mesh without direct contact with the plates themselves, thus avoiding scratches or contamination caused by direct grasping of such non-magnetic mesh metal plates; 2. For stacked mesh metal plates, this device does not directly grasp the mesh metal plates themselves, but uses a Bernoulli suction cup to non-contactly pick up the paper underneath the mesh metal plates; by controlling the paper to lift the mesh metal plates; finally, a specially designed non-destructive clamping mechanism is used to fix only the mesh metal plates and release the paper, thereby completing the "indirect" grasping of the mesh metal plates; 3. This device can guarantee absolutely zero surface damage to the mesh metal plates. Throughout the entire grasping and placement cycle, the functional upper surface of the mesh metal plates never comes into physical contact with any grasping device. The only contact is between the clamping mechanism and the extremely small area of ​​its edge or back. 4. This device and method ingeniously solve the problem of gripping porous materials: it avoids the problem of directly establishing negative pressure on porous titanium mesh, and instead sucks up dense and easily sealed separator paper, utilizing the non-contact characteristics of the Bernoulli effect, making the gripping principle simple and reliable; 5. This device and method can also efficiently solve adhesion and separation: it directly uses the existing separator paper in production as the gripping medium and separation interface, naturally solving the feeding problem of thin plate stacking adhesion, and the separation process is gentle and stable; 6. This device has high adaptability and reliability: it is not sensitive to changes in the pore size and porosity of titanium mesh, and can work as long as there is separator paper underneath it. The Bernoulli suction cup has good tolerance for slight unevenness of the separator paper; 7. This device provides clean and stable compressed air through the setting of the air circuit system, and integrates flow and pressure regulating valves to control the strength of the adsorption force; it meets the requirements of clean production, with no friction debris generated throughout the process, and can use clean and dry compressed air, meeting the high cleanliness standards of PEM electrolysis cell production. Attached Figure Description

[0019] Figure 1 This is an overall schematic diagram of a device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper-insulating medium according to the present invention. Figure 2 This is a schematic diagram of the bottom structure of the device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper-intermediate medium according to the present invention. Figure 3 This is a schematic diagram of the Bernoulli suction cup structure of the present invention; Figure 4 This is a partial structural schematic diagram of the mesh metal sheet (titanium mesh) of the present invention; Figure 5 This is a schematic diagram of the non-destructive clamping mechanism of the present invention; Figure 6 This is a schematic diagram of the positioning mechanism structure of the present invention; Figure 7 This is a schematic diagram of the working process of the non-destructive gripping device of the present invention.

[0020] In the diagram: 1. Device base plate; 2. First mounting plate; 3. Side connecting plate; 4. Guide column; 5. Lifting drive component; 6. Non-destructive clamping mechanism; 601. First drive unit; 602. Second drive unit; 603. First connecting plate; 604. Pressure plate; 605. Flexible gripper; 7. Positioning mechanism; 701. Second connecting plate; 702. Third drive unit; 703. Positioning plate; 704. Positioning slot; 8. Suction cup assembly; 801. Connecting rod; 802. Suction cup; 9. Distance sensor; 10. Vision unit; 11. Mesh metal sheet; 12. Partition paper; 13. Bernoulli suction cup; 14. Second mounting plate. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] In the description of this invention, it should be noted that the terms "middle," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] Example 1: As Figures 1-6As shown, a device for non-destructively grasping a non-magnetic mesh metal sheet 11 based on a paper intermediary is provided. The device includes a base plate 1, with a liftable first mounting plate 2 below the base plate 1. Multiple non-destructive clamping mechanisms 6 and positioning mechanisms 7 are respectively provided on multiple sides of the first mounting plate 2. The positioning mechanisms 7 are used to push and position the mesh metal sheet 11, and the non-destructive clamping mechanisms 6 are used to non-destructively clamp or release the mesh metal sheet 11. A side connecting plate 3 is also provided on the side of the base plate 1, and a second mounting plate 14 is connected to the side connecting plate 3. The second mounting plate 14 is located below the first mounting plate 2. One or more Bernoulli suction cups 13 are provided at the bottom of the second mounting plate 14. The Bernoulli suction cups 13 are used to non-destructively pick up or release the paper intermediary 12 below the mesh metal sheet 11, so that the mesh metal sheet 11 is lifted together. Several suction cup assemblies 8 are also provided around the second mounting plate 14, and the suction cup assemblies 8 are used to attract or release the edges of the paper intermediary.

[0024] Through the aforementioned improvements, this device combines the "paper intermediary" method with the "Bernoulli non-contact suction" method, enabling the safe, stable, and automated grasping and separation of ultra-thin porous metal plates such as PEM titanium mesh without direct contact with the plates themselves. This avoids scratches or contamination caused when these non-magnetic mesh metal plates are directly grasped.

[0025] The key to this device is that, for stacked mesh metal sheets 11 (such as titanium mesh), it does not directly grasp the mesh metal sheets themselves, but instead uses a Bernoulli suction cup 13 to non-contactly pick up the paper spacer 12 beneath the mesh metal sheets; by controlling the paper spacer 12, the mesh metal sheets 11 are lifted; finally, a specially designed non-destructive clamping mechanism 6 is used to fix only the mesh metal sheets and release the paper spacer, thereby completing the "indirect" grasping of the mesh metal sheets 11. Specifically, the device base plate 1 can support all components and can also be mounted on the robotic arm or transfer module of the production line to drive the entire device to move between different workstations; the first mounting plate 2 is mainly used to connect and mount the non-destructive clamping mechanism 6 and the positioning mechanism 7, and synchronously drive these two mechanisms to perform lifting and lowering movements so that they can clamp the mesh metal sheet. The positioning mechanism 7 can position the mesh metal sheet 11 to ensure that the mesh metal sheet 11 is clamped correctly and without damage; the second mounting plate 1 4 is mainly used to connect and install the Bernoulli suction cup 13 and the suction cup assembly 8. The Bernoulli suction cup 13 can use negative pressure to adsorb the partition paper 12 under the mesh metal sheet without adsorbing the mesh metal sheet or damaging it. The suction cup assembly 8 can adsorb the partition paper (the size of the partition paper is larger than the size of the mesh metal sheet) around the perimeter, which can better lift the mesh metal sheet 11 flatly and prevent the partition paper 12 from drooping down around the perimeter, thus affecting the lifting stability of the mesh metal sheet.

[0026] This device can guarantee that the mesh metal sheet 11 (such as titanium mesh) has absolutely zero surface damage: throughout the process, the functional upper surface (catalytic coating surface) of the titanium mesh never comes into physical contact with any gripping device. The only contact is the non-destructive clamping of the clamping mechanism on its very small edge area or back, which fundamentally eliminates scratches, contamination and indentations.

[0027] It also cleverly solves the problem of grasping porous materials: it avoids the problem of directly creating negative pressure on porous titanium mesh, and instead picks up the dense and easy-to-seal separator paper, utilizing the non-contact characteristics of the Bernoulli effect, making the grasping principle simple and reliable.

[0028] It can also efficiently solve adhesion and separation: by directly using the original paper separator in the production process as the gripping medium and separation interface, it naturally solves the feeding problem of thin plate stacking adhesion, and the separation process is gentle and stable.

[0029] Moreover, this device is highly adaptable and reliable: it is not sensitive to changes in the pore size and porosity of the titanium mesh, and it can work as long as there is a partition paper underneath it. The Bernoulli suction cup has good tolerance for slight unevenness of the partition paper.

[0030] The air path system provides clean and stable compressed air and integrates flow and pressure regulating valves to control the strength of the adsorption force; it meets the requirements of clean production, generates no frictional debris throughout the process, and can use clean and dry compressed air, meeting the high cleanliness standards of PEM electrolysis cell production.

[0031] Furthermore, a vertical connecting plate is provided on the outer side of the side connecting plate 3, and a vertical moving module is connected to the outer side of the vertical connecting plate. The vertical moving module is connected to a horizontal moving module, and the horizontal moving module is connected to a vision unit 10 for identifying workpieces and guiding alignment.

[0032] The vertical and horizontal moving modules enable the vision unit 10 to move and adjust its position as needed to better monitor the workpiece below. This involves detecting the position of the stacked titanium mesh and the partition paper through visual image recognition, which helps with subsequent adsorption, positioning, and clamping operations.

[0033] Furthermore, a distance sensor 9 is provided on the outer side of the side connecting plate 3. The distance sensor 9 is used for height detection. The distance sensor 9 can be a laser distance sensor to detect the specific height of the titanium mesh. The device performs intelligent grasping based on the height.

[0034] Furthermore, the device base plate 1 is provided with a plurality of lifting drive components 5, the output end of the lifting drive components 5 is connected downward to the first mounting plate 2, and the first mounting plate 2 is also provided with a plurality of guide columns 4, the guide columns 4 being slidably connected to the device base plate 1.

[0035] The lifting drive component 5 is a lifting cylinder or a lifting electric cylinder, which can drive the first mounting plate 2 to move up and down relative to the device base plate 1. The guide column 4 plays a guiding and limiting role to ensure the accuracy and smoothness of its movement.

[0036] Furthermore, the long side of the first mounting plate 2 is provided with a pair of non-destructive clamping mechanisms 6 and a positioning mechanism 7, with the positioning mechanism 7 located between the pair of non-destructive clamping mechanisms 6. The short side of the first mounting plate 2 is provided with one of the non-destructive clamping mechanisms 6. For the rectangular mesh metal sheet 11, clamping operations can be performed simultaneously in four directions (length and width), resulting in better stability and accuracy.

[0037] Furthermore, in combination Figure 5 As shown, the non-destructive clamping mechanism 6 includes a first drive unit 601 connected to the first mounting plate 2. The output end of the first drive unit 601 is connected to a vertical first connecting plate 603. A flexible gripper 605 is provided below the first connecting plate 603. A second drive unit 602 is provided on the inner side of the first connecting plate 603. The output end of the second drive unit 602 is connected to a liftable pressure plate 604. The pressure plate 604 cooperates with the flexible gripper 605 to clamp the mesh metal sheet 11.

[0038] The non-destructive clamping mechanism 6, through the first driving unit 601, can drive the first connecting plate 603 to move horizontally relative to the first mounting plate 2. Since the flexible gripper 605 is provided below the first connecting plate 603, the flexible gripper 605 can move away from or closer to the mesh metal sheet raised below the second mounting plate 14. When the flexible gripper 605 moves towards the mesh metal sheet 11, it can hold the mesh metal sheet 11 from below its four edges. The second driving unit 602, provided inside the first connecting plate 603, can drive the pressure plate 604 to move up and down relative to the flexible gripper 605. When the flexible gripper 605 holds the mesh metal sheet 11 and is positioned by the positioning mechanism, the pressure plate 604 will descend and clamp the mesh metal sheet 11 together with the flexible gripper 605. This allows for subsequent paper separation and transfer operations without damaging the mesh metal sheet during gripping. When the mesh metal plate 11 is transferred to the target position (such as on a proton exchange membrane), the pressure plate 604 can rise upwards, and the flexible grippers 605 move outwards respectively to release the mesh metal plate 11, thus completing the placement operation.

[0039] The non-destructive clamping mechanism 6 with the above-mentioned structure has both flexibility and clamping stability. It can adjust its position to better clamp the mesh metal sheet and can also adapt to complete metal sheets of different sizes. Moreover, the movement is gentle and controllable and will not cause damage to the mesh metal sheet.

[0040] The gripper of this non-destructive clamping mechanism 6 uses flexible materials (such as gripper fingers covered with soft silicone or sponge) or adaptive grippers to avoid abrasion of thin metal plates; its contact surface is smooth without sharp corners, and the clamping force is programmable and controllable to ensure that it only clamps the extremely narrow area of ​​the uncoated edge of the titanium mesh or disperses the pressure through large-area contact to avoid damaging the coating.

[0041] Furthermore, in combination Figure 6 As shown, the positioning mechanism 7 includes a second connecting plate 701 connected to the first mounting plate 2. The second connecting plate 701 is provided with a third driving unit 702. The output end of the third driving unit 702 is connected to a vertical positioning plate 703. The lower end of the positioning plate 703 is provided with a positioning slot 704.

[0042] The positioning mechanism 7, through the third driving unit 702, can drive the positioning plate 703 to move, allowing the positioning slot 704 below it to approach or move away from the mesh metal sheet 11. The positioning slot 704 can contact the edge of the mesh metal sheet 11, pushing it to a suitable position. The lower end of the positioning plate 703 uses a flexible material (such as a push plate covered with soft silicone or sponge) for push-stop positioning. The positioning speed and positioning thrust are programmable and controllable, ensuring a gentle and accurate positioning process for the titanium mesh.

[0043] Furthermore, the suction cup assembly 8 includes a connecting rod 801, one end of which is connected to the second mounting plate 14 and the other end is connected to a suction cup 802. The connecting rod 801 extends outward along the edge of the second mounting plate 14.

[0044] These suction cups 802 are connected and installed via the connecting rod 801, and can be arranged around the second mounting plate 14. They can adhere to the perimeter of the partition paper 12 without touching the mesh metal plate 11.

[0045] Furthermore, this device also integrates a control system through a controller to coordinate vision processing, motion trajectory planning, Bernoulli suction cup start / stop, non-destructive clamping mechanism and positioning mechanism action sequence, and air circuit control.

[0046] Furthermore, the mesh metal sheet 11 is a 0.1–0.5 mm thick titanium fiber mesh or porous titanium plate, with a Pt / Ir catalyst coated on its surface, and the separator 12 is a PET film or a Teflon film. This device effectively protects these very thin, coated titanium fiber meshes or porous titanium plates during transfer, preventing contamination or damage to the expensive catalytic coating.

[0047] Example 2: A method for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary is provided.

[0048] The method employs the non-destructive gripping device for non-magnetic mesh metal sheets based on a paper-intermediary, as described in Example 1, combined with... Figure 7 As shown, the method includes the following steps: (1) Detection: The vision unit 10 detects the position of the stacked titanium mesh and the paper separator assembly, and the distance sensor 9 detects the specific height of the titanium mesh so that the device can intelligently grasp it according to the height.

[0049] (2) Bernoulli suction cup intervention and paper-separated non-contact grasping The device is moved to the material handling position, and the second mounting plate 14 is adjusted to a suitable position directly above the mesh metal sheet 11 to be grasped according to the detected stacking state and height position; one or more of the Bernoulli suction cups 13 and the suction cup assembly 8 are activated to adsorb the paper 12 under the mesh metal sheet to be grasped, and the paper 12 is lifted together with the mesh metal sheet 11. Specifically, the Bernoulli suction cup sprays a high-speed airflow onto the surface of the partition paper. According to Bernoulli's principle, the airflow creates a local low pressure (negative pressure) in the area between the partition paper and the suction cup head, thereby non-contactly adsorbing and lifting the soft and dense partition paper. Due to the adhesive force between the titanium mesh and the partition paper, the titanium mesh is "lifted" by the partition paper and lifted together, achieving initial grasping.

[0050] (3) Transfer to the separation station: The device adsorbs the separator paper and titanium mesh and is smoothly transferred to a specially designed separation station.

[0051] (4) Non-destructive clamping and paper release The suction cup assembly 8 releases the vacuum, releasing the adsorption around the partition paper 12; the non-destructive clamping mechanism 6 moves from the side of the mesh metal plate 11, gently holding the mesh metal plate 11. After the flexible gripper 605 grips the mesh metal sheet 11, the positioning mechanism 7 positions the mesh metal sheet 11; after positioning, the non-destructive clamping mechanism 6 clamps the edge of the mesh metal sheet 11, and the clamping force is precisely controlled to ensure that no indentations are produced. After the non-destructive clamping mechanism 6 securely clamps the mesh metal sheet 11, the Bernoulli suction cup 13 immediately stops blowing air and retracts, releasing the vacuum. The separator paper 12, which has lost its negative pressure adsorption, separates from the mesh metal sheet 11 under the action of gravity and falls to the recycling device, which has a separator paper guide and recycling groove to ensure that the separator paper is reliably guided and recycled, avoiding interference.

[0052] (5) Precise positioning and placement of titanium mesh: After releasing the separator paper 12, the non-destructive clamping mechanism 6 holds the mesh metal sheet 11 separately. The device is transferred to the unloading position, precisely transported and placed in the target position (such as on the proton exchange membrane). Then the non-destructive clamping mechanism 6 releases the mesh metal sheet 11 to complete the entire gripping-placement cycle. The device is transferred to the picking position to start the next cycle.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper-intermediary, characterized in that, The device includes a base plate, below which is a liftable first mounting plate. Multiple sides of the first mounting plate are equipped with multiple non-destructive clamping mechanisms and positioning mechanisms. The positioning mechanisms are used to push and position the mesh metal sheet, and the non-destructive clamping mechanisms are used to non-destructively clamp or release the mesh metal sheet. The base plate also has a side connecting plate connected to a second mounting plate located below the first mounting plate. The bottom of the second mounting plate has one or more Bernoulli suction cups for non-destructively picking up or releasing the paper separating the mesh metal sheet, allowing the mesh metal sheet to be lifted together. Several suction cup assemblies are also arranged around the second mounting plate for adsorbing or releasing the edges of the paper separating the sheet.

2. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary as described in claim 1, characterized in that, A vertical connecting plate is provided on the outer side of the side connecting plate. A vertical moving module is connected to the outer side of the vertical connecting plate. A horizontal moving module is connected to the vertical moving module. A vision unit is connected to the horizontal moving module for identifying workpieces and guiding alignment.

3. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary as described in claim 1, characterized in that, A distance sensor is provided on the outer side of the side connecting plate, and the distance sensor is used for height detection.

4. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary according to claim 1, characterized in that, The device base plate is provided with multiple lifting drive components. The output end of the lifting drive components is connected downward to the first mounting plate. The first mounting plate is also provided with multiple guide columns, which are slidably connected to the device base plate.

5. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper-intermediary as described in claim 1, characterized in that, The long side of the first mounting plate is provided with a pair of non-destructive clamping mechanisms and a positioning mechanism, the positioning mechanism being located between the pair of non-destructive clamping mechanisms, and the short side of the first mounting plate is provided with a non-destructive clamping mechanism.

6. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary according to claim 1, characterized in that, The non-destructive clamping mechanism includes a first drive unit connected to the first mounting plate. The output end of the first drive unit is connected to a vertical first connecting plate. A flexible gripper is provided below the first connecting plate. A second drive unit is provided on the inner side of the first connecting plate. The output end of the second drive unit is connected to a liftable pressure plate. The pressure plate cooperates with the flexible gripper to clamp the mesh metal sheet.

7. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary according to claim 1, characterized in that, The positioning mechanism includes a second connecting plate connected to the first mounting plate, a third driving unit provided on the second connecting plate, an output end of the third driving unit connected to a vertical positioning plate, and a positioning slot provided at the lower end of the positioning plate.

8. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary according to claim 1, characterized in that, The suction cup assembly includes a connecting rod, one end of which is connected to the second mounting plate and the other end is connected to a suction cup, and the connecting rod extends outward along the edge of the second mounting plate.

9. The device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper intermediary according to claim 1, characterized in that, The mesh metal sheet is a 0.1-0.5 mm thick titanium fiber mesh or porous titanium plate, with a Pt / Ir catalyst coated on the surface, and the separator is a PET film or a Teflon film.

10. A method for non-destructive grasping of non-magnetic mesh metal sheets based on a paper-intermediary, characterized in that, The method employs the device for non-destructive gripping of non-magnetic mesh metal sheets based on a paper-intermediary as described in any one of claims 1 to 9, and the method includes the following steps: The device is moved to the material picking position, and the second mounting plate is adjusted to a suitable position directly above the mesh metal sheet to be picked up according to the detected stacking state and height position. Activate the Bernoulli suction cup and the suction cup assembly to attract the paper under the mesh metal sheet to be grasped, and the paper is lifted up together with the mesh metal sheet; The device is transferred to the separation station, and the suction cup assembly releases the vacuum, releasing the adsorption around the partition paper; The non-destructive clamping mechanism holds the mesh metal sheet from the side. After the positioning mechanism positions the mesh metal sheet, the non-destructive clamping mechanism clamps the edge of the mesh metal sheet. The Bernoulli suction cup releases the vacuum, and the paper, which has lost its negative pressure adsorption, separates from the mesh metal plate under the action of gravity and falls to the recycling device. The device is transferred to the unloading position, and the non-destructive clamping mechanism releases the mesh metal sheet; The device is transferred to the material handling position to begin the next cycle.

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