Visual inspection equipment for 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 a collector plate of a fuel cell. The fuel cell collector plates are divided into n detection subareas, and the fuel cell collector plates are supplied to the fuel cell collector plate feeding system in batches and are transferred to the material bearing unit one by one by means of the multi-degree-of-freedom feeding manipulator. Under the action of the material transfer unit, a plurality of fuel cell collector plates continue to flow in a stepping manner, and in the intermittent staying period, the n optical detection devices independently carry out image regional pickup operation on the n detection subregions respectively, so that the information amount of image data needing to be collected by a single optical detection device is relatively limited, and the detection efficiency is improved. On the premise that the data processing precision is ensured, the time consumed by image processing can be greatly shortened. And moreover, the time consumed by partitioned image acquisition is relatively short, so that the visual inspection efficiency of the fuel cell collector plate is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of visual inspection equipment manufacturing technology, and in particular to a visual inspection device for fuel cell manifolds. Background Technology

[0002] Fuel cells, as highly efficient power generation devices that directly convert the chemical energy of fuel into electrical energy through electrochemical reactions without burning fuel, have received widespread attention and application. The fuel cell current collector is a crucial component of the fuel cell system, playing a key role in concentrating, distributing, and transmitting the electrical energy generated by the fuel cell. A fuel cell current collector is a plate-shaped assembly made of conductive material used to connect multiple individual cells in a fuel cell stack and provide power supply and current distribution functions.

[0003] The fuel cell current collector plate has numerous structural features and forming welds, all subject to extremely stringent forming quality requirements. Regarding the forming welds, based on the functional classification of the fuel cell current collector plate area, they are divided into flow channel area welding and sealing area welding. The corresponding welding materials are mostly metals, and the thickness of a single material is controlled between 0.05 and 0.3 mm. Specifically: the weld surface should be smooth and flat, without obvious weld beads, depressions, porosity, cracks, or other defects; the weld should smoothly transition with the base material, without obvious undercut, lack of fusion, or incomplete penetration; the shape and size of the weld should meet design requirements and not exceed allowable deviations; the weld surface should be free of defects such as incomplete welds, miswelds, and slag inclusions that affect usability and aesthetics. Upstream new energy vehicle manufacturers have recently purchased a batch of vision inspection equipment, mainly consisting of a machine base, a circular conveyor belt, a support fixture, a flipping robot, upstream vision inspection cameras, and downstream vision inspection cameras. The support fixture is used to support individual fuel cell current collector plates. Multiple support fixtures are sequentially arranged on a circular conveyor belt. Under the conveying force from the conveyor belt, fuel cell current collectors pass through the upstream inspection station one by one. During this process, an upstream vision inspection camera captures a complete front image of the fuel cell current collector. Then, a flipping robot performs a 180° flipping operation on the fuel cell current collector, which continues to flow under the conveying force and passes through the downstream inspection station. During this process, a downstream vision inspection camera captures a complete back image of the fuel cell current collector. However, according to feedback from upstream new energy vehicle manufacturers, in practical applications, the inspection effect is unsatisfactory, the inspection efficiency is extremely low, image processing takes too long, and the data is easily distorted during processing, leading to frequent false detections and missed detections of weld defects. The reasons for this are as follows: 1) The weld seam distribution area of ​​the fuel cell current collector is relatively large. Limited by the image acquisition capabilities and speed of the equipped visual inspection camera, the running speed of the circular conveyor belt must be slowed down, ultimately affecting inspection efficiency; 2) The amount of image data required by the visual inspection camera is too large. Limited by its data processing capabilities, the required image processing time is too long, and the data is easily distorted during processing; 3) During the image acquisition process, a 180° flipping operation of the fuel cell current collector is required, and the circular conveyor belt must remain paused during this process. This inevitably affects the conveying cycle of the fuel cell current collector to some extent. Furthermore, the objective existence of secondary positioning errors after flipping further affects the stability and accuracy of image acquisition, ultimately adversely impacting image processing speed. Therefore, it is urgent for technical personnel to solve these problems. Utility Model Content

[0004] Therefore, in view of the above-mentioned existing problems and defects, the designers of this utility model collected relevant information, conducted multiple evaluations and considerations, and carried out continuous experiments and modifications by technical personnel with many years of R&D experience in this industry, which ultimately led to the emergence of the visual inspection equipment for fuel cell manifolds.

[0005] To address the aforementioned technical problems, this utility model relates to a visual inspection device for fuel cell current collectors. The fuel cell current collector is divided into n inspection zones. The visual inspection device includes a machine base, a fuel cell current collector loading system, a multi-degree-of-freedom loading robot, a material handling unit, a material transfer unit, an optical inspection unit, a multi-degree-of-freedom unloading robot, a temporary storage fixture for non-good fuel cell current collectors, and a good fuel cell current collector output system. The fuel cell current collector loading system supplies fuel cell current collectors in batches to the multi-degree-of-freedom loading robot. The multi-degree-of-freedom loading robot picks up the fuel cell current collectors one by one and transfers them to the material handling unit. Under the action of the material transfer unit, the fuel cell current collectors continue to circulate in a step-by-step manner, and during this process, the optical inspection unit sequentially performs comprehensive image acquisition operations on the n inspection zones of the fuel cell current collector. With the help of a multi-degree-of-freedom unloading robot, fuel cell current collectors that pass visual inspection are transferred from the material carrying unit to the fuel cell current collector good product output system, or fuel cell current collectors that fail visual inspection are transferred from the material carrying unit to the fuel cell current collector non-good product temporary storage fixture.

[0006] As a further improvement to the technical solution disclosed in this utility model, the fuel cell current collector loading system includes a supporting fixture and a transport mechanism. The supporting fixture is used to load fuel cell current collectors in batches, and they flow under the driving force from the transport mechanism. The transport mechanism includes a left conveyor, a right conveyor, a partition, and a lateral drive mechanism. Both the left and right conveyors are supported by the machine base, and they are placed side by side with opposite conveying directions. The partition is used to partially isolate the left and right conveyors, thus forming a full-load fixture conveying channel, a fixture lateral movement channel, and an empty fixture conveying channel. The fixture lateral movement channel spans both the left and right conveyors, and the driving force for the full-load fixture conveying channel comes solely from the right conveyor, while the driving force for the empty fixture conveying channel comes solely from the left conveyor. The transverse drive mechanism is used to drive the unloaded load-bearing fixture to perform displacement movement along the transverse flow channel of the fixture, and the left and right conveyors together serve as its mounting base.

[0007] As a further improvement to the technical solution disclosed in this utility model, the support fixture includes a base plate and a baffle assembly. The base plate has a clearance notch to facilitate the application of driving force by the transverse drive mechanism. The baffle assembly consists of multiple vertically positioned baffles detachably fixed to the base plate, thereby forming a left-side fuel cell current collector stacking section and a right-side fuel cell current collector stacking section.

[0008] As a further improvement to the technical solution disclosed in this utility model, the fuel cell current collector loading system also includes a position guiding mechanism. The position guiding mechanism is mounted on a right-hand conveyor. After the fully loaded load-bearing fixture has stopped relative to the fixture's transverse flow channel, the position guiding mechanism is activated to guide its relative position. The position guiding mechanism consists of multiple sets of pin cylinders and guiding sleeves. All pin cylinders are mounted on the right-hand conveyor and are concealed beneath the substrate. Multiple insertion holes for inserting the guiding sleeves are evenly distributed on the substrate. During the process of the guiding sleeve being penetrated by the corresponding pin cylinder, the relative position of the fully loaded load-bearing fixture is guided.

[0009] As a further improvement to the technical solution disclosed in this utility model, the lateral movement drive mechanism includes a support frame, a linear module, a lifter, and a force-applying component. The left and right conveyors together serve as the mounting base for the support frame, which is concealed beneath them. The linear module drives the lifter to perform lateral movement, and it is mounted on the support frame. The force-applying component, which directly applies lateral thrust to the substrate, is driven by the lifter.

[0010] As a further improvement to the technical solution disclosed in this utility model, both the multi-degree-of-freedom loading robot and the multi-degree-of-freedom unloading robot are powered by a machine tool and have the same design structure. The multi-degree-of-freedom loading robot includes a multi-degree-of-freedom robotic arm and an adsorption and picking fixture. The adsorption and picking fixture is used to pick up fuel cell current collector plates one by one, and its posture changes due to the driving force from the multi-degree-of-freedom robotic arm, thus transferring the fuel cell current collector plates. The adsorption and picking fixture includes a support plate and multiple vacuum adsorption components. The multiple vacuum adsorption components are all mounted on the support plate, and their relative positions and sway angles can be adjusted according to the different specifications of the pre-adsorbed fuel cell current collector plates.

[0011] As a further improvement to the technical solution disclosed in this utility model, the vacuum adsorption assembly includes a support plate and vacuum nozzles. The support plate is in contact with the load-bearing plate and is detachably fixed to the load-bearing plate by means of a fastening component. Multiple vacuum nozzles work together to pick up the fuel cell current collector and are assembled with the support plate by insertion. An oblong insertion hole adapted to the outer diameter of the vacuum nozzle is provided on the support plate.

[0012] As a further improvement to the technical solution disclosed in this utility model, the fastening assembly consists of a first screw and a second screw of the same type and specification. The load-bearing plate has threaded holes that are compatible with both the first and second screws. The support plate also has mounting holes that are compatible with the outer diameter of the first screw and arc-shaped holes through which the second screw can pass freely. After the support plate is initially assembled relative to the load-bearing plate, the first and second screws pass through the mounting holes and arc-shaped holes respectively, occupying two adjacent threaded holes. During the process of adjusting the sway angle of the vacuum adsorption assembly, the support plate rotates circumferentially around the central axis of the first screw, and the maximum and minimum sway angles of the support plate are limited by the combined action of the second screw and the arc-shaped holes.

[0013] As a further improvement to the technical solution disclosed in this utility model, the material carrying unit, the material transfer unit, and the optical inspection unit are all handled by a machine tool. The material carrying unit consists of an upstream material storage platform, a first visual inspection stage, a second visual inspection stage, ..., an nth visual inspection stage, and a downstream material storage platform, arranged sequentially from upstream to downstream. The material transfer unit includes an X-axis power unit, a Y-axis power unit, and a first material picking and transferring device, a second material picking and transferring device, ..., an (n+1)th material picking and transferring device arranged sequentially from upstream to downstream. The optical inspection unit consists of a first optical inspection device, a second optical inspection device, ..., an nth optical inspection device, each corresponding to one of the first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage. Under the coordinated action of the X-axis power unit and the Y-axis power unit, the first material picking and transferring device, the second material picking and transferring device, ..., the (n+1)th material picking and transferring device can synchronously perform X-axis displacement or Y-axis displacement. The fuel cell manifold can be transferred from the upstream material storage platform to the downstream material storage platform in a step-by-step manner. While stopped at the first vision inspection stage, the second vision inspection stage, ..., the nth vision inspection stage, the first optical inspection device, the second optical inspection device, ..., the nth optical inspection device independently inspect the n inspection zones of the fuel cell manifold.

[0014] As a further improvement to the technical solution disclosed in this utility model, the first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage have the same design structure. The first visual inspection stage includes a first adjustable leveling support platform and a first pushing mechanism. A first process notch is formed on the machine platform. The first adjustable leveling support platform is hinged to the machine platform and completely covers the first process notch when placed flat. The first pushing mechanism uses the machine platform as its mounting base and passes through the first process notch to apply a dragging force to the first adjustable leveling support platform, thereby changing the tilt angle α of the first adjustable leveling support platform.

[0015] As a further improvement to the technical solution disclosed in this utility model, the first pushing mechanism includes a first cylinder, a first support assembly, a first hinge seat, and a first hinge shaft. The first support assembly is detachably fixed to the machine base and consists of a first left-side L-shaped support and a first right-side L-shaped support that cooperate to support the first cylinder. The piston rod of the first cylinder is hinged to the first adjustable leveling support platform via the first hinge seat and the first hinge shaft. As the piston rod of the first cylinder extends and retracts, its own yaw angle changes, and the tilt angle α of the first adjustable leveling support platform changes accordingly.

[0016] As a further improvement to the technical solution disclosed in this utility model, the first material picking and transferring device, the second material picking and transferring device, ..., the (n+1)th material picking and transferring device have the same design structure. The first material picking and transferring device includes a first bearing base, a first linear motion element, a first cantilever beam, and a vacuum adsorption fixture. The first bearing base performs XY plane displacement motion under the driving force from the X-direction power unit and the Y-direction power unit. The vacuum adsorption fixture is used to adsorb and pick up the fuel cell current collector plate, and it is supported by the first cantilever beam. The first linear motion element is used to drive the first cantilever beam and the vacuum adsorption fixture to perform Z-direction displacement motion, and it is mounted on the first bearing base.

[0017] As a further improvement to the technical solution disclosed in this utility model, the first optical inspection device, the second optical inspection device, ..., the nth optical inspection device have the same design structure. The first optical inspection 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 image of the fuel cell current collector, and it is located directly above the first visual inspection stage. The first lower AOI visual inspection module is used to pick up the back image of the fuel cell current collector, and it is located directly below the first visual inspection stage and is hidden in the cavity of the machine.

[0018] In practical applications, the visual inspection equipment for fuel cell manifolds disclosed in this utility model can achieve at least the following beneficial technical effects, specifically:

[0019] 1) The fuel cell current collector is artificially divided into n inspection zones, and the fuel cell current collectors are supplied in batches to the fuel cell current collector loading system. A multi-degree-of-freedom loading robot then transfers them piece by piece to the material carrying unit. With the assistance of the material transfer unit, multiple fuel cell current collectors can continue to flow in a step-by-step manner. During intermittent dwell times, the first optical inspection device, the second optical inspection device, ..., the nth optical inspection device perform image segmentation and acquisition operations on the n inspection zones respectively. Thus, the amount of image data information required by a single optical inspection device is relatively limited, effectively relaxing the requirements on the image acquisition capability and speed of the equipped visual inspection camera. Furthermore, while ensuring data processing accuracy, the image processing time can be significantly shortened.

[0020] 2) The first optical inspection device, the second optical inspection device, ..., the nth optical inspection device simultaneously realize the full image acquisition of the n inspection zones of the fuel cell manifold. The image acquisition time required for each is relatively short, which can lay a good foundation for the significant increase in the conveying speed of the fuel cell manifold and help improve the visual inspection efficiency of the fuel cell manifold.

[0021] 3) Also benefiting from the relatively limited amount of image data information to be acquired, a single optical detection device is more conducive to forming a high-quality imaging field of view during the image acquisition process. The acquired images have extremely high clarity, and image distortion is avoided in subsequent image processing.

[0022] 4) The front and back images of the n detection zones of the fuel cell current collector are acquired simultaneously without the need to perform a 180° flipping operation. This not only avoids the error caused by the secondary repositioning of the fuel cell current collector, but also optimizes its delivery cycle. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional schematic diagram of the fuel cell manifold disclosed in this utility model from one perspective (the visual inspection zones are defined by double-dotted lines).

[0025] Figure 2 This is a three-dimensional schematic diagram of the fuel cell manifold disclosed in this utility model from another perspective (the visual inspection zones are defined by double-dotted lines).

[0026] Figure 3 This is a three-dimensional schematic diagram of the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0027] Figure 4 This is a three-dimensional schematic diagram of the machine platform in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0028] Figure 5 This is a three-dimensional schematic diagram of the fuel cell manifold loading system in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0029] Figure 6 This is also a three-dimensional schematic diagram of the fuel cell manifold loading system in the visual inspection equipment for fuel cell manifolds disclosed in this utility model (with the supporting fixture and some conveying rollers of the left and right conveyors hidden).

[0030] Figure 7 This is a three-dimensional schematic diagram of the support fixture in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0031] Figure 8 yes Figure 7 Top view.

[0032] Figure 9 This is a three-dimensional schematic diagram of the transport machinery in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0033] Figure 10 yes Figure 9 Top view.

[0034] Figure 11 This is also a three-dimensional schematic diagram of the transport machinery in the visual inspection equipment for fuel cell manifolds disclosed in this utility model (with the left and right conveyor rollers partially hidden).

[0035] Figure 12 This is a three-dimensional schematic diagram of the transverse drive mechanism in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0036] Figure 13 This is a three-dimensional schematic diagram of the position guidance mechanism in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0037] Figure 14 yes Figure 5 Top view.

[0038] Figure 15 yes Figure 14 AA sectional view.

[0039] Figure 16 yes Figure 14 BB cross-sectional view.

[0040] Figure 17 This is a three-dimensional schematic diagram from one perspective of the multi-degree-of-freedom loading robot in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0041] Figure 18 This is a three-dimensional schematic diagram from another perspective of the multi-degree-of-freedom loading robot in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0042] Figure 19 This is a three-dimensional schematic diagram of the adsorption and pickup fixture in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0043] Figure 20 This is a three-dimensional schematic diagram of the load-bearing plate in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0044] Figure 21 This is a three-dimensional schematic diagram of the vacuum adsorption component in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0045] Figure 22 This is a three-dimensional schematic diagram of the support plate in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0046] Figure 23 This is a schematic diagram of the layout of the material carrying unit, material transfer unit, and optical inspection unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model, relative to the machine tool from one perspective.

[0047] Figure 24 This is a schematic diagram showing the layout of the material carrying unit, material transfer unit, and optical inspection unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model from another perspective relative to the machine.

[0048] Figure 25 This is a schematic diagram showing the relative positional relationship of a viewpoint between the material carrying unit and the optical inspection unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0049] Figure 26 This is a schematic diagram showing the relative positional relationship between the material carrying unit and the optical inspection unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model, from another perspective.

[0050] Figure 27 This is a three-dimensional schematic diagram of the material carrying unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0051] Figure 28 This is a three-dimensional schematic diagram of the upstream material temporary storage platform in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0052] Figure 29 This is a three-dimensional schematic diagram of the first visual inspection stage in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0053] Figure 30 This is a three-dimensional schematic diagram of the downstream material storage platform in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0054] Figure 31 This is a three-dimensional schematic diagram of the material transfer unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0055] Figure 32 This is also a three-dimensional schematic diagram of the material transfer unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model (with the first material pick-up transfer device, the second material pick-up transfer device, the third material pick-up transfer device, the fourth material pick-up transfer device, and the fifth material pick-up transfer device all hidden).

[0056] Figure 33 This is a three-dimensional schematic diagram of the material transfer unit in the visual inspection equipment for fuel cell manifolds disclosed in this utility model from another perspective (with the first material pickup transfer device, the second material pickup transfer device, the third material pickup transfer device, the fourth material pickup transfer device, and the fifth material pickup transfer device all hidden).

[0057] Figure 34 This is a schematic diagram showing the relative positions of the first material picking and transferring device, the second material picking and transferring device, the third material picking and transferring device, the fourth material picking and transferring device, and the fifth material picking and transferring device in the visual inspection equipment for fuel cell manifolds disclosed in this utility model.

[0058] 1-Machinery; 11-First process notch; 2-Fuel cell current collector loading system; 21-Bearing fixture; 211-Baseboard; 2111-Avoidance notch; 2112-Insertion hole; 212-Blocking assembly; 2121-Blocking component; 213-Left-positioned fuel cell current collector stacking zone; 214-Right-positioned fuel cell current collector stacking zone; 22-Transport machinery; 221-Left-positioned conveyor; 222-Right-positioned conveyor; 223-Blocking component; 224-Transverse drive mechanism; 2241-Supporting frame; 2242-Linear module; 2243-Lifter; 2244-Force application component; 225-Full-load fixture conveying channel; 226-Jig transverse movement Flow channel; 227-Unloaded fixture conveying flow channel; 23-Position guiding mechanism; 231-Pin cylinder; 232-Guide sleeve; 3-Multi-degree-of-freedom feeding robot; 31-Multi-degree-of-freedom robotic arm; 32-Adsorption and pickup fixture; 321-Support plate; 3211-Threaded hole; 322-Vacuum adsorption assembly; 3221-Bearing plate; 32211-Oval insertion hole; 32212-Mounting hole; 32213-Arc-shaped hole; 3222-Vacuum nozzle; 3223-Upper nut; 3224-Lower nut; 323-Fasting assembly; 3231-First screw; 3232-Second screw; 4-Material carrying unit; 41-Upstream material temporary Storage platform; 42-First vision inspection platform; 421-First adjustable leveling support platform; 422-First pushing mechanism; 4221-First cylinder; 4222-First support assembly; 42221-First left-side L-shaped support; 42222-First right-side L-shaped support; 4223-First hinge seat; 4224-First hinge shaft; 43-Second vision inspection platform; 44-Third vision inspection platform; 45-Fourth vision inspection platform; 46-Downstream material temporary storage platform; 5-Material transfer unit; 51-X-direction power unit; 52-Y-direction power unit; 53-First material picking and transferring device; 531-First support base; 532-First... Linear motion element; 533-First cantilever beam; 534-Vacuum adsorption fixture; 54-Second material pick-up and transfer device; 55-Third material pick-up and transfer device; 56-Fourth material pick-up and transfer device; 57-Fifth material pick-up and transfer device; 6-Optical inspection unit; 61-First optical inspection device; 611-First upper AOI vision inspection module; 612-First lower AOI vision inspection module; 62-Second optical inspection device; 63-Third optical inspection device; 64-Fourth optical inspection device; 7-Multi-degree-of-freedom unloading robot; 8-Fuel cell manifold non-good product temporary storage fixture; 9-Fuel cell manifold good product output system. Detailed Implementation

[0059] In the description of this utility model, it should be understood that the terms "front", "rear", "left", "right", "up", "down", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and 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 utility model.

[0060] The present invention will be further described in detail below with reference to specific embodiments. Figure 1 , Figure 2 Two different perspectives of the fuel cell current collector plate disclosed in this utility model are shown. It can be seen that it is artificially divided into 4 detection zones. The division criteria are the structural features contained in each detection zone, the specific number of formed welds, the amount of image detail information, and other factors.

[0061] Figure 3 A three-dimensional schematic diagram of the visual inspection equipment for fuel cell manifolds disclosed in this utility model is shown. It can be seen that it mainly consists of a machine base 1, a fuel cell manifold loading system 2, a multi-degree-of-freedom loading robot 3, a material carrying unit 4, a material transfer unit 5, an optical inspection unit 6, a multi-degree-of-freedom unloading robot 7, a temporary storage fixture for non-defective fuel cell manifolds 8, and a good fuel cell manifold output system 9. The machine base 1 serves as the common mounting foundation for the fuel cell manifold loading system 2, the multi-degree-of-freedom loading robot 3, the material carrying unit 4, the material transfer unit 5, the optical inspection unit 6, the multi-degree-of-freedom unloading robot 7, the temporary storage fixture for non-defective fuel cell manifolds 8, and the good fuel cell manifold output system 9. The fuel cell manifold loading system 2 supplies fuel cell manifolds in batches to the multi-degree-of-freedom loading robot 3. The multi-degree-of-freedom loading robot 3 picks up the fuel cell manifolds one by one and transfers them to the material carrying unit 4. Under the action of the material transfer unit 5, the fuel cell current collector continues to flow in a step-by-step manner. During this process, the optical inspection unit 6 sequentially performs comprehensive image acquisition on the n inspection zones of the fuel cell current collector. With the help of the multi-degree-of-freedom unloading robot 7, fuel cell current collectors that pass visual inspection are transferred from the material carrying unit 4 to the fuel cell current collector good product output system 9, or fuel cell current collectors that fail visual inspection are transferred from the material carrying unit 4 to the fuel cell current collector non-good product temporary storage fixture 8.

[0062] Depend on Figure 23 , 24As clearly shown, the material carrying unit 4, the material transfer unit 5, and the optical inspection unit 6 occupy the central area of ​​the machine 1, forming the core assembly of the fuel cell manifold visual inspection equipment. The material carrying unit 4 is located downstream of the fuel cell manifold loading system 2 to receive the fuel cell manifolds transferred by the multi-degree-of-freedom loading robot 3. The material carrying unit 4 serves as the foundation for transporting the fuel cell manifolds, and, in conjunction with the material transfer unit 5, allows the fuel cell manifolds to move in a step-by-step manner. During their brief pauses, the optical inspection unit 6 sequentially performs comprehensive image acquisition on the four inspection zones of the fuel cell manifold.

[0063] like Figure 25-27 As shown, the material handling unit 4 consists of an upstream material storage platform 41, a first vision inspection stage 42, a second vision inspection stage 43, a third vision inspection stage 44, a fourth vision inspection stage 45, and a downstream material storage platform 46, arranged sequentially from upstream to downstream. The upstream material storage platform 41 directly receives the fuel cell manifolds transferred from the multi-degree-of-freedom loading robot 3. The fuel cell manifolds that have undergone vision inspection continue to flow through the downstream material storage platform 46 to the fuel cell manifold good product output system 9 or the fuel cell manifold non-good product temporary storage fixture 8.

[0064] like Figures 31-34 As shown, the material transfer unit 5 mainly consists of an X-direction power unit 51, a Y-direction power unit 52, a first material pickup and transfer device 53, a second material pickup and transfer device 54, a third material pickup and transfer device 55, a fourth material pickup and transfer device 56, and a fifth material pickup and transfer device 57. Along the upstream to downstream direction, the first material pickup and transfer device 53, the second material pickup and transfer device 54, the third material pickup and transfer device 55, the fourth material pickup and transfer device 56, and the fifth material pickup and transfer device 57 are arranged linearly in sequence. Under the coordinated driving force from the X-direction power unit 51 and the Y-direction power unit 52, the first material pickup and transfer device 53, the second material pickup and transfer device 54, the third material pickup and transfer device 55, the fourth material pickup and transfer device 56, and the fifth material pickup and transfer device 57 synchronously perform positional transformation movements, thereby enabling the five adsorbed fuel cell manifolds to achieve step-like circulation.

[0065] like Figure 25 , 26 As shown, the optical detection unit 6 consists of a first optical detection device 61, a second optical detection device 62, a third optical detection device 63, and a fourth optical detection device 64, and is aligned with the first visual detection stage 42, the second visual detection stage 43, the third visual detection stage 44, and the fourth visual detection stage 45 in a one-to-one correspondence.

[0066] In practical applications, under the coordinated action of the X-direction power unit 51 and the Y-direction power unit 52, the first material picking and transfer device 53, the second material picking and transfer device 54, the third material picking and transfer device 55, the fourth material picking and transfer device 56, and the fifth material picking and transfer device 57 can synchronously perform X-direction displacement or Y-direction displacement. The fuel cell current collectors adsorbed and picked up by them can be transferred from the upstream material temporary storage platform 41 to the downstream material temporary storage platform 46 in a step-by-step manner, and during the transfer, they sequentially pass through the first visual inspection stage 42, the second visual inspection stage 43, the third visual inspection stage 44, and the fourth visual inspection stage 45. While stationed at the first visual inspection stage 42, the second visual inspection stage 43, the third visual inspection stage 44, and the fourth visual inspection stage 45, the first optical inspection device 61, the second optical inspection device 62, the third optical inspection device 63, and the fourth optical inspection device 64 independently inspect the four inspection zones of the fuel cell manifold in a one-to-one correspondence.

[0067] By adopting the above technical solution, on the one hand, the amount of image data information required for a single visual inspection by the first optical inspection device 61, the second optical inspection device 62, the third optical inspection device 63, and the fourth optical inspection device 64 is relatively limited, which can effectively relax the requirements on the image acquisition capability and image acquisition speed of the equipped visual inspection camera, and significantly shorten the image processing time while ensuring data processing accuracy; on the other hand, the first optical inspection device 61, the second optical inspection device 62, the third optical inspection device 63, and the fourth optical inspection device 64 simultaneously realize full image acquisition of the four inspection zones of the fuel cell manifold, and the image acquisition time required for each is relatively short, which can lay a good foundation for a significant increase in the conveying speed of the fuel cell manifold and help improve the visual inspection efficiency of the fuel cell manifold.

[0068] It should also be noted that, thanks to the relatively limited amount of image data information required for a single visual inspection, the first optical inspection device 61, the second optical inspection device 62, the third optical inspection device 63, and the fourth optical inspection device 64 are more conducive to forming a high-quality imaging field of view during the image acquisition process. The acquired images have extremely high clarity, and image distortion is avoided in subsequent image processing.

[0069] As Figure 27 , 28, as shown in , the upstream material temporary storage platform 41 is mainly composed of a fixed upstream bearing platform and an upstream adsorption component. The downstream material temporary storage platform 46 is mainly composed of a fixed downstream bearing platform and a downstream adsorption component. The fixed upstream bearing platform and the fixed downstream bearing platform are both placed horizontally on the machine table 1 and are fixed in a detachable manner.

[0070] As Figure 27 shown in , the first visual inspection carrier 42, the second visual inspection carrier 43, the third visual inspection carrier 44, and the fourth visual inspection carrier 45 have the same design structure and play similar roles in the visual inspection process.

[0071] It is known that when an industrial camera forms an image, it is necessary to ensure that the optical axis is perpendicular to the plane of the fuel cell current collector plate. If it is not installed flat or placed obliquely, it will inevitably cause the optical axis to deviate from the vertical direction, and image distortion is inevitable. Moreover, it will also cause distortion of the actual size of the fuel cell current collector plate in the image, thereby affecting the authenticity of the image. In view of this, as a further optimization of the above technical solution, the first visual inspection carrier 42, the second visual inspection carrier 43, the third visual inspection carrier 44, and the fourth visual inspection carrier 45配套 with the first optical detection device 61, the second optical detection device 62, the third optical detection device 63, and the fourth optical detection device 64 are all preferably designed with an adjustable inclination structure. Specifically, taking the first visual inspection carrier 42 as an example, as Figure 27 , 29 shown in , it includes a first adjustable leveling carrier platform 421 and a first pushing mechanism 422. As Figure 4 shown in , a first process notch 11 is formed on the machine table 1. The first adjustable leveling carrier platform 421 is hinged to the machine table 1 and completely covers the first process notch 11 in the horizontal state. The first pushing mechanism 422 takes the machine table 1 as the installation base and passes through the first process notch 11 to apply a dragging force to the first adjustable leveling carrier platform 421, so that the inclination angle of the first adjustable leveling carrier platform 421 changes. In this way, on the one hand, when the first optical detection device 61 is assembled in place relative to the machine table 1, the inclination angle of the first adjustable leveling carrier platform 421 changes due to the pushing force from the first pushing mechanism 422, ensuring that the perpendicularity of the fuel cell current collector plate placed on it relative to the imaging optical axis meets the expected design requirements; on the other hand, during the imaging process, if it is found that the imaging quality of the first optical detection device 61 is unqualified, the first pushing mechanism 422 can be used to conveniently and quickly push the first adjustable leveling carrier platform 421, and the inclination angle of the first adjustable leveling carrier platform 421 changes at a slow speed. During this process, the imaging quality of the first optical detection device 61 is observed in real time until it meets the expected design requirements.

[0072] It is known that, based on design common sense, the first pushing mechanism 422 can adopt various design structures to push the first adjustable leveling support platform 421. However, a design structure that is simple, easy to manufacture and implement, easy to maintain and repair later, and has a very fast response speed is recommended here. Specifically, as follows: Figure 29 As shown, the first pushing mechanism 422 is mainly assembled from several parts, including a first cylinder 4221, a first support assembly 4222, a first hinge seat 4223, and a first hinge shaft 4224. The first support assembly 4222 is detachably fixed to the machine base 1 and cooperates with it to support the first cylinder 4221. It consists of a first left-side L-shaped support 42221 and a first right-side L-shaped support 42222. The piston rod of the first cylinder 4221 is hinged to the first adjustable leveling support platform 421 by means of the first hinge seat 4223 and the first hinge shaft 4224. As the piston rod of the first cylinder 4221 extends and retracts, its own yaw angle changes, and the tilt angle of the first adjustable leveling support platform 421 changes accordingly.

[0073] like Figure 34 As shown, the first material pickup and transfer device 53, the second material pickup and transfer device 54, the third material pickup and transfer device 55, the fourth material pickup and transfer device 56, and the fifth material pickup and transfer device 57 have the same design structure. Taking the first material pickup and transfer device 53 as an example, it mainly consists of a first supporting base 531, a first linear motion element 532, a first cantilever beam 533, and a first adsorption and pickup fixture 534. The first supporting base 531 also serves as the mounting foundation for the first material pickup and transfer device 53, the second material pickup and transfer device 54, the third material pickup and transfer device 55, the fourth material pickup and transfer device 56, and the fifth material pickup and transfer device 57, and can perform XY plane displacement motion under the driving force from the X-direction power unit 51 and the Y-direction power unit 52. The first adsorption and pickup fixture 534 is used to adsorb and pick up the fuel cell current collector plate, and it is supported by the first cantilever beam 533. The first linear motion element 532 (preferably a cylinder with a fast corresponding speed) is used to drive the first cantilever beam 533 together with the first adsorption and pickup fixture 534 to perform Z-axis displacement motion, and it is mounted on the first bearing base 531.

[0074] Depend on Figure 22 , 23 As can also be clearly seen in the diagram, both the X-axis power unit 51 and the Y-axis power unit 52 are preferably motor-driven linear modules to ensure that the first material pickup and transfer device 53, the second material pickup and transfer device 54, the third material pickup and transfer device 55, the fourth material pickup and transfer device 56 and the fifth material pickup and transfer device 57 all have microsecond-level response speeds and output accuracy of 0.01%.

[0075] like Figure 25 , 26 As shown, the first optical inspection device 61, the second optical inspection device 62, the third optical inspection device 63, and the fourth optical inspection device 64 have the same design structure. Taking the first optical inspection device 61 as an example, it consists of a first upper AOI visual inspection module 611 and a first lower AOI visual inspection module 612. The first upper AOI visual inspection module 611 is used to pick up the front image of the fuel cell current collector, and it is located directly above the first visual inspection stage 42. The first lower AOI visual inspection module 612 is used to pick up the back image of the fuel cell current collector, and it is located directly below the first visual inspection stage 42 and is hidden in the cavity of the machine 1. By adopting the above technical solution, the front and back images of the fuel cell current collector can be acquired without performing a 180° flipping operation during the entire image acquisition process. This not only effectively avoids the error caused by the secondary repositioning of the fuel cell current collector, but also optimizes the conveying cycle of the fuel cell current collector.

[0076] Figure 5 This is a three-dimensional schematic diagram of the fuel cell current collector loading system disclosed in this utility model. It can be seen that it mainly consists of several parts, including a support fixture 21 and a transport mechanism 22. The support fixture 21 is used to load fuel cell current collectors in batches, and these current collectors move between different workstations under the driving force of the transport mechanism 22. With the assistance of a multi-degree-of-freedom loading robot 3, the batch-stacking fuel cell current collectors are transferred piece by piece from the support fixture 21 to the upstream material storage platform 41.

[0077] like Figure 9 , 10 As shown, the transport machinery 22 mainly consists of a left conveyor 221, a right conveyor 222, a partition 223, and a lateral movement drive mechanism 224. The left and right conveyors 221 and 222 are arranged side-by-side in the front-rear direction, with their conveying directions opposite. The partition 223 partially isolates the left and right conveyors 221 and 222, thus forming a full-load fixture transport channel 225, a fixture lateral movement channel 226, and an empty fixture transport channel 227. The fixture lateral movement channel 226 spans both the left and right conveyors 221 and 222. The sole source of the transport driving force for the full-load fixture transport channel 225 is the right conveyor 222, while the sole source of the transport driving force for the empty fixture transport channel 227 is the left conveyor 221. The transverse drive mechanism 224 is used to drive the unloaded load-bearing fixture 2 to perform displacement movement along the fixture transverse flow channel 226, and the left conveyor 221 and the right conveyor 222 together serve as its mounting base.

[0078] In the initial state, the fully loaded jig 21 carrying fuel cell current collectors is placed on the right-hand conveyor 222. Under the action of the carrying force, the fully loaded jig 21 flows through the fully loaded jig conveying channel 225 to the jig lateral movement channel 226 and temporarily stops at the loading station. Subsequently, the multi-degree-of-freedom loading robot 3 moves to pick up the fuel cell current collectors one by one and transfer them to the upstream material storage platform 41 until all the fuel cell current collectors are cleared. Then, the unloaded jig 21 performs displacement movement along the jig lateral movement channel 226 under the driving force from the lateral drive mechanism 224 until it is aligned with the unloaded jig conveying channel 227. Then, under the action of the carrying force from the left-hand conveyor 221, the unloaded jig 21 flows along the unloaded jig conveying channel 227 and finally stops at the jig recycling station. By adopting the above technical solution, on the one hand, while ensuring the number of fuel cell manifolds transported per unit time, the area required for the fuel cell manifold loading system is significantly reduced, which is conducive to the implementation of workshop layout design; on the other hand, during the process of the multi-degree-of-freedom loading robot 3 picking up and gradually emptying the fuel cell manifolds, both the left conveyor 221 and the right conveyor 222, as well as the transverse drive mechanism 224, remain in a stopped or idle state, thereby effectively reducing energy consumption and improving energy utilization.

[0079] It should also be noted that, as is well known in the industry, the multi-degree-of-freedom loading robot 3 has the design characteristics of rapid execution, high efficiency, and high precision. Therefore, in practical applications, it can quickly empty the carrying fixture 21, thereby effectively increasing the total number of fuel cell current collectors that the fuel cell current collector loading system can supply per unit time, laying a good foundation for matching the working rhythm of the vision inspection camera.

[0080] like Figure 7 , 8 As shown, the support fixture 21 is mainly composed of a base plate 211 and a baffle assembly 212. The baffle assembly 212 consists of multiple vertically positioned baffles 2121 detachably fixed to the base plate 211, thus forming a left-side fuel cell current collector stacking section 213 and a right-side fuel cell current collector stacking section 214. In practical applications, both the left-side fuel cell current collector stacking section 213 and the right-side fuel cell current collector stacking section 214 can be used to support stacked fuel cell current collectors in batches. Given a fixed total number of current collectors, this helps to control the stacking height of the fuel cell current collectors within a reasonable range, thereby significantly improving the transport stability and safety of the support fixture 21.

[0081] like Figure 5 , 6As shown, the fuel cell manifold loading system 2 is further equipped with a position guiding mechanism 23. The position guiding mechanism 23 is mounted on the right-hand conveyor 222. After the fully loaded load jig 21 stops relative to the jig lateral flow channel 226, the position guiding mechanism 23 is activated to guide its relative position, which lays a good foundation for the subsequent high-efficiency and high-precision picking operations of the multi-degree-of-freedom loading robot 3.

[0082] As Figure 13 , 14 As shown in Figure 16, the position guiding mechanism 23 consists of four sets of pin cylinders 231 and guiding sleeves 232. All four pin cylinders 231 are mounted on the right-hand conveyor 222 and are concealed beneath the base plate 211. The base plate 211 has multiple insertion holes 2112 evenly distributed for inserting the guiding sleeves 232 (e.g., ...). Figure 5 , 6 (As shown in the diagram). In practical applications, when the fully loaded load-bearing fixture 21 is transferred to the fixture transverse flow channel 226 via the fully loaded fixture conveying channel 225 and temporarily stops at the loading station, the four pin cylinders 231 are activated simultaneously, and the pins are able to perform an upward movement. During the process of the guide sleeve 232 being penetrated by the corresponding pin cylinder 231, the relative position of the fully loaded load-bearing fixture 21 is corrected.

[0083] It is known that, based on design common sense, the lateral drive mechanism 224 can adopt various design structures to achieve the lateral movement of the unloaded load-bearing fixture 21. However, a simple design structure, easy to manufacture and implement, and with extremely smooth movement is recommended here. Specifically, as follows: Figure 11 , 12 As shown in Figures 14 and 15, the lateral drive mechanism 224 includes a support frame 2241, a linear module 2242, a lifter 2243, and a force-applying component 2244. The left conveyor 221 and the right conveyor 222 together serve as the mounting base for the support frame 2241, with the support frame 2241 concealed beneath them. The linear module 2242 drives the lifter 2243 to perform lateral movement, and it is mounted on the support frame 2241. The force-applying component 2244, which directly applies lateral thrust to the base plate 211, is driven by the lifter 2243 (preferably a cylinder with excellent response speed). The base plate 211 has a clearance notch 2111 (e.g., for the force-applying component 2244 to apply driving force to it) Figure 7 , 8 (as shown in the image).

[0084] like Figure 3 As shown, both the multi-degree-of-freedom loading robot 3 and the multi-degree-of-freedom unloading robot 7 are powered by the machine tool and have the same design structure. For the sake of brevity, only the multi-degree-of-freedom loading robot 3 will be used as an example to elaborate on its design structure.

[0085] Figure 17 , Figure 18 The diagrams show two different perspectives of the multi-degree-of-freedom (DOF) loading robot of this invention. It can be seen that it mainly consists of two parts: a multi-DOF robotic arm 31 and a suction-and-pickup fixture 32. The multi-DOF robotic arm 31 is mounted on the machine base 1 and is fixed in a detachable manner. The suction-and-pickup fixture 32 is used to pick up fuel cell current collector plates one by one, and its posture changes due to the driving force from the multi-DOF robotic arm 31, thus transferring the fuel cell current collector plates.

[0086] like Figure 19 As shown, the adsorption pickup fixture 32 includes a support plate 321 and multiple vacuum adsorption components 322. The multiple vacuum adsorption components 322 are all mounted on the support plate 321 and work together to achieve vacuum adsorption of the fuel cell manifold.

[0087] like Figure 21 As shown, the vacuum adsorption assembly 322 mainly consists of a support plate 3221, vacuum nozzles 3222, an upper nut 3223, and a lower nut 3224. The support plate 3221 is in contact with the load-bearing plate 321, and is detachably fixed to the load-bearing plate 321 by means of the fastening assembly 323. Multiple vacuum nozzles 3222 work together to pick up the fuel cell current collector, and are assembled with the support plate 3221 by insertion. The support plate 3221 has an oblong insertion hole 32211 that matches the outer diameter of the vacuum nozzle 3222 (e.g., ...). Figure 22 (As shown in the diagram). After the vacuum nozzle 3222 is inserted into position relative to the support plate 3221, the upper nut 3223 and the lower nut 3224 work together to tighten it. The outer wall of the vacuum nozzle 3222 is simultaneously formed with an upper external thread section that matches the upper nut 3223 and a lower external thread section that matches the lower nut 3224.

[0088] Similarly, Figure 21 As shown, the fastening assembly 323 consists of a first screw 3231 and a second screw 3232 of the same type and specification. The load-bearing plate 321 has threaded holes 3211 that are compatible with both the first screw 3231 and the second screw 3232 (e.g., ...). Figure 20(As shown in the diagram). In addition to the waist-shaped insertion hole 32211, the support plate 3221 also has a mounting hole 32212 adapted to the outer diameter 3231 of the first screw and an arc-shaped hole 32213 for the second screw 3232 to pass through freely. After the support plate 3221 is initially assembled relative to the load-bearing plate 321, the first screw 3231 and the second screw 3232 pass through the mounting hole 32212 and the arc-shaped hole 32213 respectively, and occupy two adjacent threaded holes 3211. During the process of adjusting the swing angle of the vacuum adsorption assembly 322, the support plate 3221 rotates circumferentially with the central axis of the first screw 3231 as the reference, and the maximum and minimum swing angles of the support plate 3221 are limited by the synergistic effect of the second screw 3232 and the arc-shaped hole 32213.

[0089] In practical applications, multiple vacuum adsorption components 322 belonging to the adsorption and pickup fixture 32 work together to achieve stable adsorption and pickup of fuel cell manifolds. The adsorption and pickup fixture 32, driven by the multi-degree-of-freedom robotic arm 31, can change its posture, allowing the fuel cell manifold to move between different workstations. Furthermore, the adsorption and pickup fixture 32 is adjustable, allowing workers to easily and quickly adjust the relative positions and yaw angles of the multiple vacuum adsorption components 322 to adapt it to different models and specifications of fuel cell manifolds. This effectively expands the applicability of the multi-degree-of-freedom pickup robot for fuel cell manifolds, giving it excellent versatility.

[0090] When the model or specifications of the fuel cell current collector change and exceed the applicable scope of the adsorption pickup fixture 32, the worker adjusts the relative position of the relevant vacuum adsorption components 322. Specifically, the worker loosens the upper nut 3223 or lower nut 3224 to release the tightness of the vacuum nozzle 3222. Then, the worker drags the vacuum nozzle 3222 along the length of the support plate 3221 until the desired result is achieved. Finally, the upper nut 3223 or lower nut 3224 is tightened again. The entire operation is convenient and quick. Multiple vacuum nozzles 3222 can work together to utilize the negative pressure effect to pick up the fuel cell current collector. In cases where it is difficult to achieve stable adsorption of the fuel cell current collector by simply adjusting the relative position of the vacuum adsorption assembly 322, the worker also needs to adjust the overall sway angle of the vacuum adsorption assembly 322 to further expand the applicability of the adsorption pickup fixture 32. Specifically, during the process of adjusting the sway angle of the vacuum adsorption assembly 322, the first screw 3231 and the second screw 3232 are loosened to release the restriction on the circumferential rotational freedom of the support plate 3221. Due to the rotational torque from the hand, the support plate 3221 rotates circumferentially with the central axis of the first screw 3231 as the reference. Under the synergistic effect of the second screw 3232 and the arc hole 32213, the maximum and minimum sway angles of the support plate 3221 are limited until the overall sway angle of the vacuum adsorption assembly 322 meets the expected psychological requirements. Then, the first screw 3231 and the second screw 3232 are tightened again.

[0091] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A visual inspection device for fuel cell manifolds, wherein the fuel cell manifold is divided into n inspection zones, characterized in that, The system includes a machine, a fuel cell current collector loading system, a multi-degree-of-freedom (DOF) loading robot, a material handling unit, a material transfer unit, an optical inspection unit, a multi-degree-of-freedom (DOF) unloading robot, a temporary storage fixture for defective fuel cell current collectors, and a good fuel cell current collector output system. The fuel cell current collector loading system supplies fuel cell current collectors in batches to the multi-DOF loading robot. The multi-DOF loading robot picks up the fuel cell current collectors one by one and transfers them to the material handling unit. Under the action of the material transfer unit, the fuel cell current collectors continue to circulate in a step-by-step manner. During this process, the optical inspection unit sequentially performs comprehensive image acquisition on n inspection zones of the fuel cell current collector. With the help of the multi-DOF unloading robot, fuel cell current collectors that pass visual inspection are transferred from the material handling unit to the good fuel cell current collector output system, or fuel cell current collectors that fail visual inspection are transferred from the material handling unit to the temporary storage fixture for defective fuel cell current collectors.

2. The visual inspection device for fuel cell manifolds according to claim 1, characterized in that, The fuel cell current collector loading system includes a support fixture and a transport mechanism. The support fixture is used to load fuel cell current collectors in batches, and they are rotated under the driving force of the transport mechanism. The transport mechanism includes a left conveyor, a right conveyor, a partition, and a lateral drive mechanism. Both the left and right conveyors are supported by the machine platform, and they are placed side by side with opposite conveying directions. The partition is used to partially isolate the left and right conveyors, and the full-load fixture... A conveying channel, a fixture traverse channel, and an unloaded fixture conveying channel are formed; the fixture traverse channel spans both the left and right conveyors, and the driving force for the fully loaded fixture conveying channel originates solely from the right conveyor, while the driving force for the unloaded fixture conveying channel originates solely from the left conveyor; the traverse drive mechanism drives the unloaded load-bearing fixture to perform displacement movement along the fixture traverse channel, and the left and right conveyors together serve as its mounting base.

3. The visual inspection device for fuel cell manifolds according to claim 2, characterized in that, The support fixture includes a base plate and a baffle assembly; the base plate has a clearance notch to facilitate the lateral drive mechanism to apply driving force thereto; the baffle assembly consists of multiple vertical baffles that are detachably fixed to the base plate, thereby forming a left-side fuel cell current collector accumulation zone and a right-side fuel cell current collector accumulation zone.

4. The visual inspection device for fuel cell manifolds according to claim 3, characterized in that, The fuel cell current collector loading system also includes a position guiding mechanism; the position guiding mechanism is based on the right-hand conveyor; after the fully loaded bearing fixture has finished positioning relative to the lateral flow channel of the fixture, the position guiding mechanism is activated to guide its relative position; the position guiding mechanism consists of multiple sets of pin cylinders and guide sleeves; multiple pin cylinders are based on the right-hand conveyor and are hidden below the base plate; multiple insertion holes for the guide sleeves are evenly distributed on the base plate; during the process of the guide sleeve being penetrated by the corresponding pin cylinder, the relative position of the fully loaded bearing fixture is guided.

5. The visual inspection device for fuel cell manifolds according to claim 3, characterized in that, The lateral movement drive mechanism includes a support frame, a linear module, a lifter, and a force-applying component; the left and right conveyors together serve as the mounting base for the support frame, and the support frame is concealed below both of them; the linear module is used to drive the lifter to perform lateral movement, and it uses the support frame as its mounting base; the force-applying component, which directly applies lateral thrust to the substrate, is driven by the lifter.

6. The visual inspection device for fuel cell manifolds according to claim 1, characterized in that, Both the multi-degree-of-freedom loading robot and the multi-degree-of-freedom unloading robot are powered by the machine platform and have the same design structure. The multi-degree-of-freedom loading robot includes a multi-degree-of-freedom robotic arm and an adsorption and picking fixture. The adsorption and picking fixture is used to pick up fuel cell current collector plates one by one, and it changes its posture due to the driving force from the multi-degree-of-freedom robotic arm, so that the fuel cell current collector plates can be transferred. The adsorption and picking fixture includes a support plate and multiple vacuum adsorption components. The multiple vacuum adsorption components are all mounted on the support plate, and their relative positions and sway angles can be adjusted according to the different specifications of the pre-adsorbed fuel cell current collector plates.

7. The visual inspection device for fuel cell manifolds according to claim 6, characterized in that, The vacuum adsorption assembly includes a support plate and vacuum nozzles; the support plate is in contact with the load-bearing plate and is detachably fixed to the load-bearing plate by means of a fastening assembly; multiple vacuum nozzles work together to pick up fuel cell current collectors and are assembled with the support plate by insertion; the support plate has an oblong insertion hole that matches the outer diameter of the vacuum nozzle.

8. The visual inspection device for fuel cell manifolds according to claim 7, characterized in that, The fastening assembly consists of a first screw and a second screw of the same type and specification; the load-bearing plate has threaded holes that are compatible with both the first screw and the second screw; the bearing plate is also formed with mounting holes that are compatible with the outer diameter of the first screw and arc-shaped holes that allow the second screw to pass freely; after the bearing plate is initially assembled relative to the load-bearing plate, the first screw and the second screw pass through the mounting holes and the arc-shaped holes respectively, and occupy two adjacent threaded holes; during the process of adjusting the deflection angle of the vacuum adsorption assembly, the bearing plate rotates around the central axis of the first screw as a circumferential reference, and the maximum and minimum deflection angles of the bearing plate are limited by the synergistic effect of the second screw and the arc-shaped holes.

9. The visual inspection device for fuel cell manifolds according to any one of claims 1-8, characterized in that, The material carrying unit, the material transfer unit, and the optical detection unit are all operated by the machine tool. The material carrying unit consists of an upstream material storage platform, a first visual detection stage, a second visual detection stage, ..., an nth visual detection stage, and a downstream material storage platform, arranged sequentially from upstream to downstream. The material transfer unit includes an X-axis power unit, a Y-axis power unit, and a first material picking and transferring device, a second material picking and transferring device, ..., an (n+1)th material picking and transferring device arranged sequentially from upstream to downstream. The optical detection unit consists of a first optical detection device, a second optical detection device, ..., an nth optical detection device, and is positioned correspondingly to the first visual detection stage, the second visual detection stage, ..., the nth visual detection stage. Under the coordinated action of the X-axis power unit and the Y-axis power unit, the first material picking and transferring device, the second material picking and transferring device, ..., the (n+1)th material picking and transferring device can synchronously perform X-axis displacement or Y-axis displacement, and the fuel cell manifold can be transferred from the upstream material temporary storage platform to the downstream material temporary storage platform in a stepping manner. While stopped at the first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage, the first optical inspection device, the second optical inspection device, ..., the nth optical inspection device independently inspect the n inspection zones of the fuel cell manifold.

10. The visual inspection device for fuel cell manifolds according to claim 9, characterized in that, The first visual inspection stage, the second visual inspection stage, ..., the nth visual inspection stage have the same design structure; the first visual inspection stage includes a first adjustable leveling support platform and a first pushing mechanism; a first process notch is formed on the machine platform; the first adjustable leveling support platform is hinged to the machine platform and completely covers the first process notch in a flat state; the first pushing mechanism uses the machine platform as a mounting base and passes through the first process notch to apply a dragging force to the first adjustable leveling support platform, so that the tilt angle α of the first adjustable leveling support platform can change.

11. The visual inspection device for fuel cell manifolds according to claim 10, characterized in that, The first pushing mechanism includes a first cylinder, a first support assembly, a first hinge seat, and a first hinge shaft; the first support assembly is detachably fixed to the machine base and cooperates with it to support the first cylinder, consisting of a first left-side L-shaped support and a first right-side L-shaped support; the piston rod of the first cylinder is hinged to the first adjustable leveling support platform by means of the first hinge seat and the first hinge shaft; as the piston rod of the first cylinder extends and retracts, its own yaw angle changes, and the tilt angle α of the first adjustable leveling support platform changes accordingly.

12. The visual inspection device for fuel cell manifolds according to claim 9, characterized in that, The first material picking and transferring device, the second material picking and transferring device, ..., the (n+1)th material picking and transferring device have the same design structure; the first material picking and transferring device includes a first bearing base, a first linear motion element, a first cantilever beam, and a vacuum adsorption fixture; the first bearing base performs XY plane displacement motion under the driving force from the X-direction power unit and the Y-direction power unit; the vacuum adsorption fixture is used to adsorb and pick up the fuel cell current collector plate, and it is supported by the first cantilever beam; the first linear motion element is used to drive the first cantilever beam together with the vacuum adsorption fixture to perform Z-direction displacement motion, and it is mounted on the first bearing base.

13. The visual inspection device for fuel cell manifolds according to claim 9, characterized in that, The first optical inspection device, the second optical inspection device, ..., the nth optical inspection device have the same design structure; the first optical inspection device is composed of 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 image of the fuel cell current collector, and it is located directly above the first visual inspection stage. The first lower AOI vision inspection module is used to pick up the back image of the fuel cell current collector. It is located directly below the first vision inspection stage and is hidden in the cavity of the machine.

Images