Visual inspection equipment for welding seam of collector plate of fuel cell

Abstract

The utility model relates to the technical field of visual inspection equipment manufacturing, in particular to visual inspection equipment for welding seams of a collector plate of a fuel cell. The bearing jig is used for bearing stacked fuel cell collector plates in batches, and the stacked fuel cell collector plates are carried by the transfer unit. And under the action of the carrying force from the transfer unit, the full-load-state bearing jig is carried to the feeding station. And the upstream multi-degree-of-freedom manipulator is used for transferring the fuel cell collector plates from the bearing jig to the loading tool piece by piece. The loading tool can circulate among different stations under the action of carrying force from the carrying unit, and the optical detection unit picks up weld images of the fuel cell collector plate when passing through the visual detection station. And under the action of carrying force from the transfer unit, the no-load-state bearing jig performs transverse movement until the no-load-state bearing jig stops at a discharging station. And the downstream multi-degree-of-freedom manipulator is used for transferring the fuel cell collector plate good products from the loading tool to the bearing jig or the defective product temporary storage box one by one.

Description

TECHNICAL FIELD

[0001] The utility model relates to visual inspection equipment manufacturing technical field especially fuel cell current collector plate welding seam visual inspection equipment. BACKGROUND

[0002] Fuel cell as a kind of high-efficiency power generation device that does not burn fuel and directly converts the chemical energy of fuel into electrical energy by electrochemical reaction mode, has been widely valued and applied. Fuel cell current collector plate is an important component in fuel cell system, which plays a key role in concentrating, distributing and transmitting the electrical energy generated by fuel cell. Fuel cell current collector plate is a plate-shaped assembly made of conductive material, used to connect multiple single cells in fuel cell stack and provide power supply and current distribution function.

[0003] As shown in Figure 1 Fuel cell current collector plate is distributed with a large number of welds, and has extremely strict forming quality requirements. According to the functional classification of fuel cell current collector plate area, it is divided into flow channel area welding and sealing area welding, and the corresponding welding materials are mostly metal, and the thickness of single material is controlled between 0.05-0.3mm. Specifically, the surface of the weld should be smooth and flat, without obvious weld nodule, depression, porosity, crack and other defects; the weld should be smoothly transitioned with the base material, without obvious undercut, incomplete fusion, incomplete penetration and other defects; the shape and size of the weld should meet the design requirements, and should not exceed the allowable deviation; the surface of the weld should not have defects such as missed welding, miswelding, slag inclusion and other defects affecting use and appearance. In the prior art, the welding seam visual inspection equipment mainly consists of a machine table, a ring conveyor, a workpiece carrier, a turnover manipulator, an upstream visual inspection camera and a downstream visual inspection camera. The workpiece carrier is used to support the single fuel cell current collector plate. A plurality of workpiece carriers are arranged on the ring conveyor, and the fuel cell current collector plate is subjected to upstream detection position under the conveying force from the ring conveyor. During this period, the upstream visual inspection camera picks up the complete front weld image of the fuel cell current collector plate, and then the turnover manipulator performs 180° turnover operation on the fuel cell current collector plate. Under the conveying force, it continues to circulate and undergoes downstream detection position. During this period, the downstream visual inspection camera picks up the complete back weld image of the fuel cell current collector plate. According to the feedback from the upstream new energy vehicle manufacturer, in actual application, the detection effect is poor, and the detection efficiency is extremely low. The unreasonable design structure seriously restricts the circulation speed of the fuel cell current collector plate, and the implementation cost is high. And the existing welding seam visual inspection equipment needs to rely on the ring conveyor to realize the design goal of carrying the workpiece carrier in a ring shape. The workpiece carrier can return to the feeding station to continue to receive the fuel cell current collector plate for visual inspection, which occupies a large area of land, and is not conducive to the optimization of workshop layout. Therefore, technical personnel are in urgent need of technical solutions to the above problems. UTILITY MODEL CONTENTS

[0004] Therefore, the designer of the utility model in view of the above-mentioned problems and defects collects relevant data, through the assessment and consideration of many parties, and through the continuous experiment and modification of the technical personnel engaged in this industry for many years of research and development experience, finally leads to the emergence of the fuel cell current collector plate welding seam visual detection equipment.

[0005] In order to solve the above technical problems, the utility model relates to a kind of fuel cell current collector plate welding seam visual detection equipment, including machine table, bearing fixture, transfer unit, load tooling, load unit, upstream multi-degree-of-freedom manipulator, downstream multi-degree-of-freedom manipulator, optical detection unit and defective product temporary storage box.Transfer unit and load unit are adjacent, and are all borne by machine table.Bearing fixture is used to carry stacked fuel cell current collector plate in batches, and it is carried by transfer unit.Under the carrying force from transfer unit, full load bearing fixture is carried to loading station.Upstream multi-degree-of-freedom manipulator is used to transfer fuel cell current collector plate from bearing fixture to load tooling piece by piece, until bearing fixture is emptied, and it is arranged directly above loading station.Load tooling is used to support fuel cell current collector plate, and it can be circulated between different stations under the carrying force from load unit, and during the period of visual detection station, optical detection unit picks up front and back welding seam image of fuel cell current collector plate.Under the carrying force from transfer unit, empty load bearing fixture executes horizontal movement, and until stop at unloading station.Downstream multi-degree-of-freedom manipulator is arranged directly above unloading station, which is used to transfer fuel cell current collector plate from load tooling to empty load bearing fixture piece by piece, until full load, or, used to transfer fuel cell current collector plate from load tooling to defective product temporary storage box piece by piece.

[0006] As further improvement of the disclosed technical scheme of the utility model, the transfer unit includes left conveyor, left top supporting transfer conveyor, middle transfer conveyor, right conveyor and right top supporting transfer conveyor. The left conveyor, the middle transfer conveyor and the right conveyor jointly form a "U" shaped bearing jig carrying line. The left top supporting transfer conveyor occupies the feeding station, which is hidden directly below the left conveyor and is in direct position with the middle transfer conveyor. The right top supporting transfer conveyor occupies the discharging station, which is hidden directly below the right conveyor and is also in direct position with the middle transfer conveyor. The empty load state bearing jig at the feeding station is separated from the left conveyor under the push lifting force from the left top supporting transfer conveyor and is horizontally moved to the middle transfer conveyor under the carrying force from the left top supporting transfer conveyor. The empty load state bearing jig horizontally moved through the middle transfer conveyor is received by the right top supporting transfer conveyor and continues to circulate to the discharging station to receive the fuel cell current collector with qualified welding seam visual inspection in batches. After the bearing jig is fully loaded, the right top supporting transfer conveyor performs posture transformation action, and the fully loaded bearing jig performs descending motion until it is placed on the right conveyor.

[0007] As further improvement of the disclosed technical scheme of the utility model, the left top supporting transfer conveyor and the right top supporting transfer conveyor have the same design structure. The left top supporting transfer conveyor includes left base plate, left belt conveyor and left linear motion actuator. The left base plate is the mounting base of the left linear motion actuator, which is placed on the machine table and fixed integrally in a detachable manner. The left belt conveyor performs lifting motion under the driving force from the left linear motion actuator.

[0008] As further improvement of the disclosed technical scheme of the utility model, the middle transfer conveyor includes temporary stop mechanism. Under the condition that the middle transfer conveyor does not stop, the bearing jig temporarily stops under the blocking force from the temporary stop mechanism.

[0009] As further improvement of the disclosed technical scheme of the utility model, the temporary stop mechanism includes force bearing frame and blocking cylinder. The force bearing frame is a sheet metal part and has a whole "U" shape. The front and rear conveying beams of the middle transfer conveyor are used as detachable fixing bases of the force bearing frame. The blocking cylinder is used to directly apply the blocking force to the bearing jig, and the force bearing frame is used as the mounting base of the blocking cylinder.

[0010] As further improvement of the disclosed technical scheme of the utility model, the carrying unit includes left mobile conveyer, left linear drive device, front fixed conveyer, right mobile conveyer, right linear drive device and rear fixed conveyer.Under the carrying force from the left linear drive device, the left mobile conveyer performs displacement movement along the front-back direction, and can selectively butt against the front fixed conveyer or the rear fixed conveyer.Under the carrying force from the right linear drive device, the right mobile conveyer performs displacement movement along the front-back direction, and can selectively butt against the front fixed conveyer or the rear fixed conveyer.The left mobile conveyer, the front fixed conveyer and the right mobile conveyer are combined to form a linear conveying line, and the full-load carrying tool can be transferred from the feeding station to the discharging station under the carrying force, and during the transfer, the tool passes through the visual detection station.

[0011] As further improvement of the disclosed technical scheme of the utility model, the carrying tool simultaneously carries N fuel cell current collecting plates.The carrying tool is divided into N carrying sub-zones.The optical detection unit includes first optical detection device, second optical detection device,..., Nth optical detection device.During the carrying tool stops at the visual detection station, the first optical detection device, the second optical detection device,..., the Nth optical detection device correspondingly pick up the front and back weld images of the fuel cell current collecting plates opposite thereto.

[0012] As further improvement of the disclosed technical scheme of the utility model, the first optical detection device, the second optical detection device,..., the Nth optical detection device have the same design structure.The first optical detection device includes first upper AOI visual detection module and first lower AOI visual detection module.The first upper AOI visual detection module is used to pick up the front weld image of the fuel cell current collecting plate, and is located directly above the front fixed conveyer.The first lower AOI visual detection module is used to pick up the back weld image of the fuel cell current collecting plate, and is hidden directly below the front fixed conveyer.

[0013] As further improvement of the disclosed technical scheme of the utility model, the carrying unit further includes visual detection position reference template and jacking unit.The visual detection position reference template spans the front fixed conveyer, and is installed based on the front and rear conveying beams of the front fixed conveyer.When the carrying tool is transferred to the visual detection station, the tool approaches and interacts with the visual detection position reference template under the jacking force from the jacking unit, and during the process, the carrying tool is guided to be aligned with the optical detection unit under the guiding force from the visual detection position reference template.

[0014] As further improvement of the disclosed technical scheme, the jacking unit is combined by the front jacking sub-unit and the rear jacking sub-unit.

[0015] The working principle of the fuel cell current collector plate welding seam visual inspection equipment is as follows: the full-load fuel cell current collector plate bearing fixture is circulated under the carrying force from the transfer unit, and is stopped at the loading station, and the fuel cell current collector plates are picked up to the load tool by the upstream multi-degree-of-freedom manipulator; the load tool is circulated between different stations under the carrying force from the transfer unit, and during the period of passing through the visual inspection station, the optical detection unit picks up the front and back welding seam images of the fuel cell current collector plate; and when the empty load load tool is circulated to the loading station again, the upstream multi-degree-of-freedom manipulator can continue to supply the fuel cell current collector plates; after the bearing fixture is emptied, it performs horizontal movement under the carrying force from the transfer unit, and is stopped at the unloading station; the good fuel cell current collector plates are transferred from the load tool to the empty load bearing fixture by the downstream multi-degree-of-freedom manipulator, until full load, or the bad fuel cell current collector plates are transferred from the load tool to the bad product temporary storage box.

[0016] In practical application, the fuel cell current collector plate welding seam visual inspection equipment disclosed by the utility model can at least achieve the following beneficial technical effects, specifically:

[0017] 1) The circulation process of the fuel cell current collector plate is effectively optimized, and the circulation efficiency is significantly improved, which lays a good foundation for the substantial improvement of the detection efficiency of the fuel cell current collector plate welding seam visual inspection equipment;

[0018] 2) At the loading station, the bearing fixture is used to batch load the fuel cell current collector plates to be visually inspected, and at the unloading station, the bearing fixture is used to batch load the fuel cell current collector plates that have passed the visual inspection, thereby effectively optimizing the supply and unloading mode of the fuel cell current collector plates, and the required number of bearing fixtures is greatly reduced;

[0019] 3) With the action of the transfer unit, only a relatively small number of load tools are needed to realize the orderly and efficient circulation of the fuel cell current collector plates; furthermore, under the premise that the annular circulation of the load tool is realized, the transfer unit has a very simple design structure and relatively low implementation cost. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0021] Figure 1 is a three-dimensional schematic view of the fuel cell current collector plate disclosed by the present application.

[0022] Figure 2 is a three-dimensional schematic view of the fuel cell current collector plate weld visual inspection equipment disclosed by the present application (hidden in the state of the shell body).

[0023] Figure 3 is Figure 2 front view.

[0024] Figure 4 is also a three-dimensional schematic view of the fuel cell current collector plate weld visual inspection equipment disclosed by the present application (hidden in the state of the bearing frame, the upstream multi-degree-of-freedom manipulator, the downstream multi-degree-of-freedom manipulator and the optical detection unit).

[0025] Figure 5 is a three-dimensional schematic view of the bearing jig in the fuel cell current collector plate weld visual inspection equipment disclosed by the present application.

[0026] Figure 6 is a three-dimensional schematic view of the transfer unit in the fuel cell current collector plate weld visual inspection equipment disclosed by the present application.

[0027] Figure 7 is also a three-dimensional schematic view of the transfer unit in the fuel cell current collector plate weld visual inspection equipment disclosed by the present application (hidden in the state of the bearing jig).

[0028] Figure 8 is a three-dimensional schematic view of a kind of view of left placement of the fuel cell current collector plate weld visual inspection equipment disclosed by the present application Top transfer conveyor.

[0029] Figure 9 is a three-dimensional schematic view of another view of left placement of the fuel cell current collector plate weld visual inspection equipment disclosed by the present application Top transfer conveyor.

[0030] Figure 10 is Figure 8 front view.

[0031] Figure 11 is Figure 10 A-A sectional view.

[0032] Figure 12 is a perspective view of a visual angle of the transfer conveyor in the fuel cell current collector plate welding seam visual inspection equipment.

[0033] Figure 13 is a perspective view of another visual angle of the transfer conveyor in the fuel cell current collector plate welding seam visual inspection equipment.

[0034] Figure 14 is a perspective view of the object carrier tool in the fuel cell current collector plate welding seam visual inspection equipment.

[0035] Figure 15 is a top view of Figure 14 .

[0036] Figure 16 is a perspective view of the carrying unit in the fuel cell current collector plate welding seam visual inspection equipment.

[0037] Figure 17 is a top view of Figure 16 .

[0038] Figure 18 is a position relationship schematic view of the object carrier tool carried by the front fixed conveyor in the fuel cell current collector plate welding seam visual inspection equipment relative to the visual inspection position reference template in a certain visual angle at a moment.

[0039] Figure 19 is a position relationship schematic view of the object carrier tool carried by the front fixed conveyor in the fuel cell current collector plate welding seam visual inspection equipment relative to the visual inspection position reference template in another visual angle at a moment.

[0040] Figure 20 is a front view of Figure 18 .

[0041] Figure 21 is a B-B sectional view of Figure 20 .

[0042] Figure 22 is a perspective view of the visual inspection position reference template in the fuel cell current collector plate welding seam visual inspection equipment.

[0043] Figure 23 is a perspective view of the optical detection unit in the fuel cell current collector plate welding seam visual inspection equipment.

[0044] Figure 24 is a front view of Figure 23 .

[0045] 1-machine; 2-bearing fixture; 3-transport unit; 31-left conveyor; 32-left top transfer conveyor; 321-left substrate; 322-left belt conveyor; 323-left linear motion actuator; 324-left guide unit; 3241-left guide column; 3242-left guide sleeve; 33-conveying machine; 331-temporarily stop mechanism; 3311-bearing frame; 3312-blocking cylinder; 34-right conveyor; 35-right top transfer conveyor; 4-carrying tool; 41-first bearing area; 411-first lower process gap; 42-second bearing area; 421-second lower process gap; 43-third bearing area; 431-third lower process gap; 44-limiting assembly; 441-limiting pin; 5-transport unit; 51-left movable conveyor; 52-left linear drive device; 53-front fixed conveyor; 54-right movable conveyor; 55-right linear drive device; 56-rear fixed conveyor; 57-visual detection position reference template; 571-limiting pin hole; 572-first upper process gap; 573-second upper process gap; 574-third upper process gap; 58-jacking unit; 581-front jacking subunit; 5811-front sliding table cylinder; 5812-front jacking plate; 582-rear jacking subunit; 6-upstream multi-degree-of-freedom robot; 7-downstream multi-degree-of-freedom robot; 8-optical detection unit; 81-first optical detection device; 811-first upper AOI visual detection module; 812-first lower AOI visual detection module; 82-second optical detection device; 83-third optical detection device; 9-bearing frame; 10-defective product temporary storage box. DETAILED DESCRIPTION

[0046] In the description of the present application, it should be understood that the terms "front", "back", "left", "right", "up", "down" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0047] The content of the present application will be further described in detail below in combination with specific embodiments, Figure 2 , Figure 3 , Figure 4The utility model discloses a fuel cell current collector plate visual inspection equipment's three -dimensional schematic diagram is shown together, can know, it mainly comprises several parts such as machine table 1, bearing fixture 2, transfer unit 3, load carrier tooling 4, load carrier unit 5, upstream multi -degree of freedom manipulator 6, downstream multi -degree of freedom manipulator 7, optical detection unit 8, bearing frame 9 and defective product temporary storage box 10. Among them, transfer unit 3 and load carrier unit 5 are adjacent, and all take machine table 1 as the installation base. Figure 5 Bearing fixture 2 (as shown in the Figure 14 ) is used to carry the fuel cell current collector plate in stack, and it is carried by transfer unit 3. Under the carrying force from transfer unit 3, full load bearing fixture 2 is carried to the loading station. Upstream multi -degree of freedom manipulator 6 is used to transfer the fuel cell current collector plate from bearing fixture 2 to load carrier tooling piece by piece until bearing fixture 2 is empty, and it is arranged directly above the loading station. Load carrier tooling 4 (as shown in the Figure 14 ) is used to support the fuel cell current collector plate, and it can circulate between different stations under the carrying force from load carrier unit 5, and during the visual inspection station, optical detection unit 8 picks up the front and back weld seam images of the fuel cell current collector plate. Under the carrying force from transfer unit 3, empty bearing fixture 2 performs horizontal movement, and stops at the unloading station. Downstream multi -degree of freedom manipulator 7 is arranged directly above the unloading station, which is used to transfer the fuel cell current collector plate from load carrier tooling 4 to empty bearing fixture 2 piece by piece until full load, or to transfer the fuel cell current collector plate from load carrier tooling 4 to defective product temporary storage box 10 piece by piece.

[0048] As shown in Figure 2 , 3 , it can be clearly known that bearing frame 9 is a welded steel structure, which takes machine table 1 as the installation base. Upstream multi -degree of freedom manipulator 6, downstream multi -degree of freedom manipulator 7 and optical detection unit 8 all adopt the inverted way to realize the assembly with bearing frame 9, and upstream multi -degree of freedom manipulator 6, downstream multi -degree of freedom manipulator 7 are respectively arranged on the left and right sides of optical detection unit 8.

[0049] The working principle of the fuel cell current collector plate welding seam visual inspection equipment is roughly as follows: the full-load fuel cell current collector plate bearing jig 2 is circulated under the carrying force from the transfer unit 3, is stopped at the loading station, and is picked up by the upstream multi-degree-of-freedom manipulator 6 to the load tooling 4; the load tooling 4 is circulated between different stations under the carrying force from the carrying unit 5, and during the period of passing through the visual inspection station, the optical detection unit 8 picks up the front and back welding seam images of the fuel cell current collector plate; and when the empty-load load tooling 4 is circulated to the loading station again, the upstream multi-degree-of-freedom manipulator 6 can continue to supply the fuel cell current collector plate; after the bearing jig 2 is emptied, it performs a horizontal movement under the carrying force from the transfer unit 3, and is stopped at the unloading station; the downstream multi-degree-of-freedom manipulator 7 is used to transfer the good fuel cell current collector plates from the load tooling 4 to the empty-load bearing jig 2, until full load, or to transfer the bad fuel cell current collector plates from the load tooling 4 to the bad product temporary storage box 10.

[0050] By adopting the above technical scheme, on the one hand, the circulation process of the fuel cell current collector plate is effectively optimized, and the circulation efficiency is significantly improved, which lays a good foundation for the substantial improvement of the detection efficiency of the fuel cell current collector plate welding seam visual inspection equipment; on the other hand, at the loading station, the bearing jig 2 is used to batch load the fuel cell current collector plates to be visually inspected, and at the unloading station, the bearing jig 2 is used to batch load the fuel cell current collector plates that have passed the visual inspection, thereby effectively optimizing the supply and unloading mode of the fuel cell current collector plate, and the required number of bearing jigs 2 is greatly reduced.

[0051] Especially, with the action of the carrying unit 5, only a relatively small number of load toolings 4 are needed to realize the orderly and efficient circulation of the fuel cell current collector plates; furthermore, under the premise that the annular circulation design of the load tooling 4 is realized, the carrying unit 5 has a very simple design structure and relatively low implementation cost.

[0052] Figure 6 、 Figure 7It can be known that the utility model discloses fuel cell collecting plate welding seam visual inspection equipment transfer unit two different state's three -dimensional schematic diagram, and it mainly comprises left -hand conveyor 31, left -hand support top transfer conveyor 32, transfer conveyor 33, right -hand conveyor 34 and right -hand support top transfer conveyor 35 etc. Left -hand conveyor 31, transfer conveyor 33 and right -hand conveyor 34 jointly constitute the " N " shape bearing fixture carrying line. Left -hand support top transfer conveyor 32 occupies in the feeding station, and it is hidden in the just below left -hand conveyor 31, and with the left end of transfer conveyor 33 keeps the just opposite position. Right -hand support top transfer conveyor 35 occupies in the unloading station, and it is hidden in the just below right -hand conveyor 34, and with the right end of transfer conveyor 33 keeps the just opposite position. The empty load state bearing fixture 2 in the feeding station is separated from left -hand conveyor 31 under the push lifting force from left -hand support top transfer conveyor 32, and is transferred from left -hand conveyor 31 to transfer conveyor 33 under the carrying force from left -hand support top transfer conveyor 32. The empty load state bearing fixture 2 that comes from transfer conveyor 33 is received by right -hand support top transfer conveyor 35 and continues to transfer to the unloading station, to batchly receive the fuel cell collecting plate that welding seam visual inspection is qualified. After the full load of bearing fixture 2, right -hand support top transfer conveyor 35 executes posture transformation action, and full load state bearing 2 executes lowering movement, and until falls on right -hand conveyor 34.

[0053] During the operation of fuel cell collecting plate welding seam visual inspection equipment, the full load fuel cell collecting plate bearing fixture 2 occupies in the feeding station, and the fuel cell collecting plate is picked up by the upstream multi -freedom mechanical hand 6 piece by piece, and continuously transfers to the welding seam visual inspection station under the carrying force from the transfer unit 5. After the fuel cell collecting plate is emptied, left -hand support top transfer conveyor 32 executes posture transformation action, and the empty load state bearing fixture 2 is separated from left -hand conveyor 31 under the push lifting force from left -hand support top transfer conveyor 32, and is transferred from left -hand conveyor 31 to transfer conveyor 33 under the carrying force from left -hand support top transfer conveyor 32. Under the carrying force from transfer conveyor 33, the empty load state bearing fixture 2 continues to transfer, and until is received by right -hand support top transfer conveyor 35, then, the empty load state bearing fixture 2 continues to transfer under the carrying force from right -hand support top transfer conveyor 35, until the unloading station. The fuel cell collecting plate that passes through welding detection is qualified and is placed in bearing fixture 2 piece by piece, until full load. Right -hand support top transfer conveyor 35 executes posture transformation action, and the relative position height of full load state bearing fixture 2 is lowered, until falls on right -hand conveyor 34, and can be oriented and transferred to the next process.

[0054] By Figure 7As can be clearly seen from FIG. 1, the left top-loading transfer conveyor 32 and the right top-loading transfer conveyor 35 have the same design structure, and their application functions are analogous. For the sake of saving space, the design concept of the left top-loading transfer conveyor 32 is described here, and the design concept of the right top-loading transfer conveyor 35 is similar to that of the left top-loading transfer conveyor 32. Figures 8-11 As shown in FIG. 2, the left top-loading transfer conveyor 32 mainly comprises a left base plate 321, a left belt conveyor 322, and a left linear motion actuator 323. The left base plate 321 is the mounting base of the left linear motion actuator 323, and is fixed to the machine table 1 in a detachable manner. The left belt conveyor 322 performs lifting motion under the driving force of the left linear motion actuator 323.

[0055] In actual application, after the carrier tool 2 occupying the loading station is emptied, the left linear motion actuator 323 is started to push the left belt conveyor 322 to perform lifting motion, so that the empty carrier tool 2 is separated from the left conveyor 31, and then the left belt conveyor 322 is started, and the empty carrier tool 2 is transferred to the transfer conveyor 33 under the continuous carrying force of the left belt conveyor 322.

[0056] For the sake of ensuring that the left belt conveyor 322 has excellent directivity during lifting motion, thereby ensuring that the carrier tool 2 is stably carried, as a further optimization of the above technical solution, as shown in FIG. 3, the left top-loading transfer conveyor 32 is additionally provided with a left guide unit 324. Figures 8-11 As shown in FIG. 3, the left guide unit 324 comprises a left guide sleeve 3242 and a left guide column 3241 which are applied in pairs. The left guide sleeve 3242 is inserted into the left base plate 321, and the left guide column 3241 is mounted on the left belt conveyor 322. During lifting motion of the left belt conveyor 322, the left guide sleeve 3242 is always subjected to the directional constraint force of the left guide column 3241, so that the left belt conveyor 322 performs lifting motion in a directional manner.

[0057] It should be further noted that during the lifting process of the left belt conveyor 322, the lateral force generated is mostly borne by the left guide unit 324, thereby effectively avoiding the phenomenon that the left linear motion actuator 323 is damaged too early due to excessive lateral force, and prolonging the service life of the left linear motion actuator 323.

[0058] As shown in FIG. 4, the right top-loading transfer conveyor 35 also comprises a right base plate 351, a right belt conveyor 352, and a right linear motion actuator 353. Figure 12 , 13As shown, the transfer conveyor 33 is equipped with a temporary stop mechanism 331. The temporary stop mechanism 331 mainly consists of a support frame 3311 and a blocking cylinder 3312. The support frame 3311 is a sheet metal part and is U-shaped. The front and rear conveyor beams of the transfer conveyor 33 are used as detachable fixing bases for the support frame 3311. The blocking cylinder 3312 is used to directly apply a blocking force to the carrying fixture, and it uses the support frame 3311 as its mounting base. In this way, when the transfer conveyor 33 is not shut down, the carrying fixture 2 can be temporarily stopped by the blocking force from the blocking cylinder 3312 until the working surface of the right-side support transfer conveyor 35 is raised to be flush with the working surface of the right-side conveyor 34, and the carrying fixture 2 can be smoothly transferred to the right-side support transfer conveyor 35.

[0059] like Figure 16 , 17 As shown, the transport unit 5 mainly consists of a left-side mobile conveyor 51, a left-side linear drive unit 52, a front-side fixed conveyor 53, a right-side mobile conveyor 54, a right-side linear drive unit 55, and a rear-side fixed conveyor 56. In practical applications, under the carrying force from the left-side linear drive unit 52, the left-side mobile conveyor 51 performs displacement movement in the front-to-back direction, selectively engaging with either the front-side fixed conveyor 53 or the rear-side fixed conveyor 56. Under the carrying force from the right-side linear drive unit 55, the right-side mobile conveyor 54 performs displacement movement in the front-to-back direction, selectively engaging with either the front-side fixed conveyor 53 or the rear-side fixed conveyor 56. The left-side mobile conveyor 51, the front-side fixed conveyor 53, and the right-side mobile conveyor 54 are combined to form a linear conveyor line. The fully loaded loading fixture 4 can be transferred from the loading station to the unloading station under the action of the carrying force, and it passes through the visual inspection station during the process.

[0060] In actual application, under initial working condition, the left mobile conveyor 51 and the right mobile conveyor 54 are kept in alignment with the front fixed conveyor 53 to form a linear conveying line. The fuel cell current collector plate is supported by the workpiece carrier 4 and transferred to the front fixed conveyor 53 through the left mobile conveyor 51. During the process of stopping at the visual inspection station, the front and back weld images of the fuel cell current collector plate are picked up by the optical detection unit 8. Then, the workpiece carrier 4 continues to be transferred to the right mobile conveyor 54 and stops at the unloading station. Subsequently, the fuel cell current collector plate that has undergone visual inspection is picked up from the workpiece carrier 4 by the downstream multi-degree-of-freedom manipulator 7 and transferred to the empty carrier jig 2 until full load or to the defective product temporary storage box 10. Then, the right mobile conveyor 54 performs a backward movement under the driving force from the right linear drive device 55 until it is in alignment with the rear fixed conveyor 56, and during this period, the empty workpiece carrier 4 performs a following backward movement. Subsequently, the empty workpiece carrier 4 is transferred from the right mobile conveyor 54 to the rear fixed conveyor 56 under the carrying force from the right mobile conveyor 54. At the same time, the left mobile conveyor 51 performs a backward movement under the driving force from the left linear drive device 52 until it is in alignment with the rear fixed conveyor 56. Then, the empty workpiece carrier 4 is transferred from the rear fixed conveyor 56 to the left mobile conveyor 51 under the carrying force from the rear fixed conveyor 56. Subsequently, the left mobile conveyor 51 performs a forward movement under the reverse driving force from the left linear drive device 52 until it is in alignment with the front fixed conveyor 53 again. At this moment, the empty workpiece carrier 4 is returned to the loading station to receive the subsequent fuel cell current collector plate for visual inspection. The above-mentioned action process is continuously repeated, and batch fuel cell current collector plates are subjected to visual inspection one by one.

[0061] As a further optimization of the above technical solution, the left mobile conveyor 51, the front fixed conveyor 53, the right mobile conveyor 54, and the rear fixed conveyor 56 are preferably belt conveyors, and the working surfaces are kept at the same position height. In this way, on the one hand, the belt conveyor has strong conveying capacity and can be easily and quickly modified or rearranged according to the specific specifications and dimensions of the workpiece carrier 4. The structure of the belt conveyor is relatively simple, the reliability of each component is high, it is easy to maintain daily, and the purchase cost is relatively low. On the other hand, the workpiece carrier 2 maintains good posture stability during the carrying process.

[0062] For the purpose of improving the transfer efficiency of the fuel cell current collector plate and the image acquisition efficiency of the optical detection unit 8 at the same time, as a further optimization of the above technical solution, as shown inFigure 14 、 15 As shown in FIG. 1, the carrier tool 4 can simultaneously carry 3 fuel cell current collector plates, which are artificially divided into a first carrying sub-zone 41, a second carrying sub-zone 42 and a third carrying sub-zone 43, which are adapted to the outer dimensions of the fuel cell current collector plates. As shown in FIG. 2, the carrier tool 4 can simultaneously carry 2 fuel cell current collector plates, which are artificially divided into a first carrying sub-zone 41 and a second carrying sub-zone 42, which are adapted to the outer dimensions of the fuel cell current collector plates. Figure 23 、 24 As shown in FIG. 1, the optical detection unit 8 comprises a first optical detection device 81, a second optical detection device 82 and a third optical detection device 83. During the period when the carrier tool 4 is carried by the front fixed conveyor 53 and is stopped at the visual detection station, the first optical detection device 81, the second optical detection device 82 and the third optical detection device 83 correspondingly pick up the front and back weld images of the fuel cell current collector plates which are opposite to them.

[0063] Further, as shown in FIG. 1, the carrier tool 4 is provided with a first carrying sub-zone 41, a second carrying sub-zone 42 and a third carrying sub-zone 43, which are adapted to the outer dimensions of the fuel cell current collector plates. Figure 23 、 24 As shown in FIG. 1, the first optical detection device 81, the second optical detection device 82 and the third optical detection device 83 have the same design structure. For the purpose of saving space, only the first optical detection device 81 is taken as an example for expansion and description. The first optical detection device 81 is composed of a first upper AOI visual detection module 811 and a first lower AOI visual detection module 812. The first upper AOI visual detection module 811 is used to pick up the front weld images of the fuel cell current collector plates, and is located directly above the front fixed conveyor 53. The first lower AOI visual detection module 812 is used to pick up the back weld images of the fuel cell current collector plates, and is hidden directly below the front fixed conveyor 53. As shown in FIG. 1, the first upper process gap 411 is provided in the first carrying sub-zone 41, which is beneficial for the first lower AOI visual detection module 812 to pick up the back weld images of the fuel cell current collector plates. Figure 14 、 15 As shown in FIG. 1, the first optical detection device 81, the second optical detection device 82 and the third optical detection device 83 have the same design structure. For the purpose of saving space, only the first optical detection device 81 is taken as an example for expansion and description. The first optical detection device 81 is composed of a first upper AOI visual detection module 811 and a first lower AOI visual detection module 812. The first upper AOI visual detection module 811 is used to pick up the front weld images of the fuel cell current collector plates, and is located directly above the front fixed conveyor 53. The first lower AOI visual detection module 812 is used to pick up the back weld images of the fuel cell current collector plates, and is hidden directly below the front fixed conveyor 53. As shown in FIG. 1, the first upper process gap 411 is provided in the first carrying sub-zone 41, which is beneficial for the first lower AOI visual detection module 812 to pick up the back weld images of the fuel cell current collector plates.

[0064] Further, as shown in FIG. 1, the carrier tool 4 is provided with a first carrying sub-zone 41, a second carrying sub-zone 42 and a third carrying sub-zone 43, which are adapted to the outer dimensions of the fuel cell current collector plates. Figures 16-21 As shown in FIG. 1, the carrier tool 4 is provided with a first carrying sub-zone 41, a second carrying sub-zone 42 and a third carrying sub-zone 43, which are adapted to the outer dimensions of the fuel cell current collector plates.

[0065] As a further refinement of the above technical solution, as shown in Figure 14 、 15 The limiting assembly 44 is composed of a plurality of limiting pins 441 fixed in a detachable manner on the top wall of the carrier tool 4. As shown in Figure 22 A plurality of limiting pin holes 571 adapted to the limiting pins 441 are formed in the visual detection position reference template 57. In consideration of the actual application effect and manufacturing difficulty, the limiting pins 441 and the limiting pin holes 571 are preferably loose fitting H8 / h7. When the carrier tool 4 is transferred to the visual detection station, it is close to the visual detection position reference template 57 due to the jacking force from the jacking unit 58, each limiting pin 441 is correspondingly inserted into the limiting pin hole 571 opposite to it, and in this process, the carrier tool 4 is precisely positioned with the optical detection unit 8 due to the cooperative alignment guiding force from the plurality of limiting pin holes 571.

[0066] As shown in Figures 18-21 The jacking unit 58 is composed of a front jacking sub-unit 581 and a rear jacking sub-unit 582. The front jacking sub-unit 581 and the rear jacking sub-unit 582 are respectively installed on the front and rear conveying beams of the front fixed conveyor 53, and cooperatively apply a jacking force to the carrier tool 4.

[0067] As shown in Figures 18-21 It can also be clearly known that the front jacking sub-unit 581 and the rear jacking sub-unit 582 have the same design structure. Taking the front jacking sub-unit 581 as an example, it includes a front sliding table air cylinder 5811 and a front jacking plate 5812. In the synchronous movement process of the front jacking plate 5812 following the sliding table of the front sliding table air cylinder 5811, the carrier tool 4 performs lifting movement due to the jacking force from the front jacking plate 5812.

[0068] The above description of disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application should not be limited to the embodiments shown herein, but should be consistent with the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fuel cell current collector plate weld seam vision inspection apparatus, characterized by, The application relates to a fuel cell current collector stacking and welding system, which comprises an organic platform, a bearing fixture, a transfer unit, a carrying tool, a carrying unit, an upstream multi-degree-of-freedom manipulator, a downstream multi-degree-of-freedom manipulator, an optical detection unit and a defective product temporary storage box; the transfer unit and the carrying unit are adjacent to each other and are borne by the platform; the bearing fixture is used for carrying a plurality of fuel cell current collectors in a stacked state and is carried by the transfer unit; under the carrying force from the transfer unit, the full bearing fixture is carried to a feeding station; the upstream multi-degree-of-freedom manipulator is used for transferring the fuel cell current collectors from the bearing fixture to the carrying tool one by one until the bearing fixture is emptied, and is arranged directly above the feeding station; the carrying tool is used for supporting the fuel cell current collectors and is circulated among different stations under the carrying force from the carrying unit, and during the visual detection station, the optical detection unit picks up the front and back welding seam images of the fuel cell current collectors; under the carrying force from the transfer unit, the empty bearing fixture performs a horizontal moving operation and is stopped at a discharging station; the downstream multi-degree-of-freedom manipulator is arranged directly above the discharging station and is used for transferring the good fuel cell current collectors from the carrying tool to the empty bearing fixture one by one until the bearing fixture is full, or is used for transferring the defective fuel cell current collectors from the carrying tool to the defective product temporary storage box one by one.

2. The fuel cell current collector weld seam visual inspection apparatus of claim 1, wherein, The transfer unit comprises a left conveyor, a left top-loading transfer conveyor, a transfer conveyor, a right conveyor and a right top-loading transfer conveyor; the left conveyor, the transfer conveyor and the right conveyor jointly form a "U"-shaped bearing fixture carrying line; the left top-loading transfer conveyor occupies the feeding station and is hidden directly below the left conveyor and faces the transfer conveyor; the right top-loading transfer conveyor occupies the discharging station and is hidden directly below the right conveyor and also faces the transfer conveyor; under the lifting force from the left top-loading transfer conveyor, the empty bearing fixture at the feeding station is separated from the left conveyor and is horizontally moved to the transfer conveyor under the carrying force from the left top-loading transfer conveyor; the empty bearing fixture horizontally moved by the transfer conveyor is received by the right top-loading transfer conveyor and continues to flow to the discharging station to receive a plurality of fuel cell current collectors which pass the welding seam visual detection; after the bearing fixture is full, the right top-loading transfer conveyor performs a posture transformation action, the full bearing fixture performs a descending operation and is placed on the right conveyor.

3. The fuel cell current collector weld seam visual inspection apparatus of claim 2, wherein, The left-positioned top-moving transfer machine and the right-positioned top-moving transfer machine have the same design structure; the left-positioned top-moving transfer machine comprises a left-positioned base plate, a left-positioned belt conveyor and a left-positioned linear motion actuator; the left-positioned base plate is the mounting base of the left-positioned linear motion actuator, and is horizontally arranged on the machine table and fixed integrally in a detachable manner; the left-positioned belt conveyor performs lifting motion under the driving force from the left-positioned linear motion actuator.

4. The fuel cell current collector weld seam visual inspection apparatus of claim 2, wherein, The transfer conveyor comprises a temporary stopping mechanism; under the condition that the transfer conveyor does not stop, the carrier fixture is temporarily stopped under the blocking force from the temporary stopping mechanism.

5. The fuel cell current collector weld seam visual inspection apparatus of claim 4, wherein, The temporary stopping mechanism comprises a force-bearing frame and a blocking cylinder; the force-bearing frame is a sheet metal part and has a whole "n" shape; the front and rear conveying beams of the transfer conveyor are used as the detachable fixing bases of the force-bearing frame; the blocking cylinder is used to directly apply the blocking force to the carrier fixture, and the force-bearing frame is used as the mounting base of the blocking cylinder.

6. The fuel cell current collector weld seam visual inspection apparatus of any one of claims 1-5, wherein, The load carrying unit comprises a left-positioned movable conveyor, a left-positioned linear drive device, a front-positioned fixed conveyor, a right-positioned movable conveyor, a right-positioned linear drive device and a rear-positioned fixed conveyor; Under the carrying force from the left-positioned linear drive device, the left-positioned movable conveyor performs displacement motion in the front-rear direction, and can be selectively connected to the front-positioned fixed conveyor or the rear-positioned fixed conveyor; Under the carrying force from the right-positioned linear drive device, the right-positioned movable conveyor performs displacement motion in the front-rear direction, and can be selectively connected to the front-positioned fixed conveyor or the rear-positioned fixed conveyor; The left-positioned movable conveyor, the front-positioned fixed conveyor and the right-positioned movable conveyor are combined to form a linear conveying line, and the full-load carrier tool can be transferred from the loading station to the unloading station under the carrying force, and passes through the visual inspection station during the transfer.

7. The fuel cell current collector weld seam visual inspection apparatus of claim 6, wherein, The carrier tool simultaneously carries N fuel cell current collectors; the carrier tool is divided into N carrying sub-zones; the optical detection unit comprises a first optical detection device, a second optical detection device,..., and an Nth optical detection device; During the stop of the carrier tool at the visual inspection station, the first optical detection device, the second optical detection device,..., and the Nth optical detection device one by one correspondingly pick up the front and back weld images of the fuel cell current collectors opposite to them.

8. The fuel cell current collector weld seam visual inspection apparatus of claim 7, wherein, The first optical detection device, the second optical detection device,..., and the Nth optical detection device have the same design structure; the first optical detection device comprises a first upper AOI visual inspection module and a first lower AOI visual inspection module; the first upper AOI visual inspection module is used to pick up the front weld image of the fuel cell current collector, and is located directly above the front-positioned fixed conveyor; The first lower AOI visual inspection module is used to pick up the back weld image of the fuel cell current collector, and is hidden directly below the front-positioned fixed conveyor.

9. The fuel cell current collector weld seam visual inspection apparatus of claim 6, wherein, The carrying unit further comprises a visual detection position reference template and a jacking unit; the visual detection position reference template is transverse to the front fixed conveyer, and the front and rear conveying beams of the front fixed conveyer are used as the installation base of the visual detection position reference template; When the carrying tool flows to the visual detection station, the carrying tool approaches and interacts with the visual detection position reference template due to the jacking force from the jacking unit, and in this process, the carrying tool is guided to be righted by the righting guide force from the visual detection position reference template, so as to realize accurate alignment with the optical detection unit.

10. The fuel cell current collector weld seam visual inspection apparatus of claim 9, wherein, The jacking unit is composed of a front jacking sub-unit and a rear jacking sub-unit; the front jacking sub-unit and the rear jacking sub-unit are respectively installed on the front and rear conveying beams of the front fixed conveyer, and the two units are coordinated to apply a jacking force to the carrying tool.

Images