Material taking manipulator

Abstract

The utility model discloses a material taking manipulator, which belongs to the technical field of manipulators and comprises an upper plate and a lower plate, the upper plate is fixedly connected with the lower plate, a two-way cylinder and a one-way cylinder are fixedly mounted on the upper plate, two sides of the two-way cylinder and the one-way cylinder are connected with positioning rods, and the positioning rods can move horizontally. According to the material taking mechanical arm, GDL is sucked through the traceless suction cup, damage of the suction cup to the surface of the GDL is reduced, no obvious suction mark is left, during material taking, the recognition sensor can recognize materials with different colors on the surface, needed materials are normally taken and placed, the material taking efficiency is improved, and the material taking mechanical arm is convenient to use. When the GDLs are not needed, the materials are taken and placed in the other material groove, the positioning rod can be far away from or close to the lower plate, the positioning function of the GDLs in the material taking process is achieved, the GDL attaching precision is improved, and meanwhile the situation that multiple GDLs are taken at a time can be prevented.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and more specifically relates to a material taking manipulator. Background Art

[0002] Gas diffusion layer (GDL), also called carbon paper, is used in the membrane electrode part of fuel cells. At present, during the GDL bonding process of the seven-layer membrane electrode assembly, the suction nozzle on the robot is too small when taking materials, which damages the GDL surface and leaves a circular mark on the GDL; the GDL is easily dislocated when taking materials, causing the membrane electrode GDL after bonding to be dislocated; at the same time, the GDL is designed to be breathable, and the suction nozzle of the robot is easy to pick up two or three GDLs at a time when taking materials, and the excess GDL needs to be taken away manually, which is troublesome to operate. Utility Model Content

[0003] The main purpose of the utility model is to provide a material taking manipulator to solve the problems of the above-mentioned background technology.

[0004] According to the first aspect of the utility model, there is provided a material picking robot, comprising an upper plate and a lower plate, which are fixedly connected, a two-way cylinder and a one-way cylinder being fixedly mounted on the upper plate, both sides of the two-way cylinder and the one-way cylinder being connected with a positioning rod, the positioning rod being movable in the horizontal direction so as to control the horizontal distance between the positioning rod and the lower plate, and a traceless suction cup and an identification sensor being arranged on the lower plate.

[0005] In a specific embodiment of the present invention, both the upper plate and the lower plate are provided with through holes.

[0006] In a specific embodiment of the present invention, the positioning rods are evenly distributed around the edge of the lower plate.

[0007] In a specific embodiment of the present invention, the positioning rod may be a square structure, a rectangular structure, or a sheet structure.

[0008] In a specific embodiment of the present invention, the lower surface of the positioning rod is lower than the lower surface of the seamless suction cup.

[0009] In a specific embodiment of the present invention, the seamless suction cup is a cylindrical structure, and the adsorption end of the seamless suction cup is provided with an annular groove and a circular protrusion.

[0010] In a specific embodiment of the utility model, the bidirectional cylinder is arranged in the middle of the upper plate, and the unidirectional cylinder is arranged at both ends of the upper plate.

[0011] In a specific embodiment of the present invention, the upper plate and the lower plate are fixedly connected via a connecting rod.

[0012] One of the above technical solutions of the utility model has at least one of the following advantages or beneficial effects:

[0013] This material-retrieving robot sucks up the GDL through a traceless suction cup, which reduces the damage to the GDL surface and leaves no obvious suction marks. When retrieving materials, the recognition sensor can identify materials of different colors on the surface. The required materials are picked up and placed normally, and the unwanted materials are placed in another material trough. The positioning rod can be away from or close to the lower plate, realizing the positioning function of the GDL when retrieving materials and increasing the GDL fitting accuracy. At the same time, if the separator paper on the ground is also sucked up when retrieving the GDL, the separator paper will be easily adjusted back into the material trough when the robot rises. Since the separator paper is not airtight, the GDL below will not be sucked up when the separator paper is removed, preventing the situation of taking multiple pieces of GDL at one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The utility model is further described below in conjunction with the accompanying drawings and embodiments;

[0015] Figure 1 It is a structural schematic diagram of a material taking manipulator in one embodiment of the utility model;

[0016] Figure 2 It is a structural schematic diagram of a material taking manipulator from another perspective in one embodiment of the utility model. DETAILED DESCRIPTION

[0017] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0018] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0019] In the description of the present utility model, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0020] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more features.

[0021] In the description of the present utility model, it should be noted that, unless otherwise clearly stipulated and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, and it can be internal connection between two elements, indirect connection, or an interactive relationship between two elements.

[0022] The following disclosure provides many different embodiments or examples for implementing different solutions of the present invention.

[0023] Reference Figure 1 to Figure 2 As shown, a material picking robot is provided, including an upper plate 1 and a lower plate 2, the upper plate 1 and the lower plate 2 are fixedly connected, a two-way cylinder 3 and a one-way cylinder 4 are fixedly installed on the upper plate 1, both sides of the two-way cylinder 3 and the one-way cylinder 4 are connected with a positioning rod 5, the positioning rod 5 can be moved in the horizontal direction to control the horizontal distance between the positioning rod 5 and the lower plate 2, and a traceless suction cup 6 and an identification sensor are arranged on the lower plate 2.

[0024] In this embodiment, before taking the material, all cylinders are in an extended state, the positioning rod 5 is away from the lower plate 2, the manipulator is pressed downward, and the traceless suction cup 6 is ventilated to absorb the material. Then the manipulator rises, all cylinders shrink, the positioning rod 5 approaches the lower plate 2, and the position of the GDL is adjusted. After the position is adjusted, all cylinders extend, the traceless suction cup 6 is cut off, and the material is placed. When taking the material, GDL and separator paper are stacked crosswise in the material trough. GDL and separator paper are distinguished by color. Generally, GDL is black and separator paper is white. If the recognition sensor recognizes that the surface is black, the material is taken normally. If it is recognized as white, the taken material is placed in another material trough. Since the surface of the white separator paper is smooth and heavier than GDL, if the separator paper underneath is also sucked up when taking the GDL, the separator paper will easily fall back into the material trough when the manipulator rises. Since the white separator paper is not breathable, the GDL below will not be sucked when taking the separator paper, preventing the situation of taking multiple pieces of GDL at one time.

[0025] In one embodiment of the utility model, both the upper plate 1 and the lower plate 2 are provided with through holes 8, and the through holes 8 are used for passing pipelines when connecting and for reducing the weight of the upper and lower plates.

[0026] In one embodiment of the utility model, the positioning rods 5 are evenly distributed around the edge of the lower plate 2, and can clamp the GDL to achieve the positioning of the GDL.

[0027] Preferably, the positioning rod 5 may be a square structure, a rectangular structure or a sheet structure, which increases the contact area with the GDL during positioning and prevents damage to the edge of the GDL.

[0028] Furthermore, the lower surface of the positioning rod 5 is lower than the lower surface of the traceless suction cup 6, and the horizontal distance between the positioning rod 5 and the lower plate 2 is controlled by the horizontal movement of the cylinder to realize the positioning function of the GDL.

[0029] In one embodiment of the utility model, the traceless suction cup 6 is a cylindrical structure, and the adsorption end of the traceless suction cup 6 is provided with an annular groove 61 and a circular protrusion 62 to reduce the adsorption mark on the GDL and protect its appearance and performance from being affected.

[0030] In one embodiment of the utility model, the bidirectional cylinder 3 is arranged in the middle of the upper plate 1, and the unidirectional cylinder 4 is arranged at both ends of the upper plate 1, so that the positioning rod 5 is arranged around the edge of the lower plate 2 and can be away from or close to the lower plate 2, so that the GDL can be fixed or loosened.

[0031] In one embodiment of the utility model, the upper plate 1 is fixedly connected to the lower plate 2 via a connecting rod 9 , and the upper plate 1 is arranged above the lower plate 2 .

[0032] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A material retrieving manipulator, comprising an upper plate (1) and a lower plate (2), characterized in that: The upper plate (1) and the lower plate (2) are fixedly connected. A bidirectional cylinder (3) and a unidirectional cylinder (4) are fixedly mounted on the upper plate (1). Both sides of the bidirectional cylinder (3) and the unidirectional cylinder (4) are connected to positioning rods (5). The positioning rods (5) can move in a horizontal direction so as to control the horizontal distance between the positioning rods (5) and the lower plate (2). A traceless suction cup (6) and an identification sensor are arranged on the lower plate (2).

2. The material reclaiming manipulator according to claim 1, characterized in that: The upper plate (1) and the lower plate (2) are both provided with through holes (8).

3. The material reclaiming manipulator according to claim 1, characterized in that: The positioning rods (5) are evenly distributed around the edge of the lower plate (2).

4. The material reclaiming manipulator according to claim 3, characterized in that: The positioning rod (5) may be a square structure, a rectangular structure, or a sheet structure.

5. The material reclaiming manipulator according to claim 3, characterized in that: The lower surface of the positioning rod (5) is lower than the lower surface of the traceless suction cup (6).

6. The material reclaiming manipulator according to claim 1, characterized in that: The traceless suction cup (6) is a cylindrical structure, and the suction end of the traceless suction cup (6) is provided with an annular groove (61) and a circular protrusion (62).

7. The material reclaiming manipulator according to claim 1, characterized in that: The bidirectional cylinder (3) is arranged in the middle of the upper plate (1), and the unidirectional cylinder (4) is arranged at both ends of the upper plate (1).

8. The material reclaiming manipulator according to claim 1, characterized in that: The upper plate (1) and the lower plate (2) are fixedly connected via a connecting rod (9).

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