Multi-degree-of-freedom pickup manipulator for fuel cell collector plate
By designing an adjustable vacuum adsorption component, the versatility problem of multi-degree-of-freedom picking manipulators was solved, achieving stable adsorption and attitude transformation of the manifold, thus improving detection efficiency and accuracy.
Patent Information
- Application Number
- CN202520070686.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2026-02-10
- Estimated Expiration
- 2035-01-13
AI Technical Summary
The vacuum suction cups of existing multi-degree-of-freedom picking robots have fixed positions, resulting in poor versatility, difficulty in adapting to manifolds of different sizes, low detection efficiency, and a tendency to misdetect or miss weld defects.
A multi-degree-of-freedom manipulator for picking up fuel cell current collectors was designed. It employs an adjustable vacuum adsorption assembly, including a substrate, a support plate, a vacuum nozzle, and a fastening assembly. By adjusting the relative position and yaw angle of the vacuum adsorption assembly, it is suitable for current collectors of different models and specifications, thus expanding the applicability of the manipulator.
It achieves stable adsorption and attitude transformation of the manifold, improves detection efficiency, reduces false and missed detections of weld defects, and enhances the versatility and applicability of the robot.
Smart Images
Figure CN223890012U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of visual inspection equipment manufacturing technology, and in particular to a multi-degree-of-freedom picking robot 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 current collector is a crucial component of a fuel cell system, playing a key role in concentrating, distributing, and transmitting the electrical energy generated by the fuel cell. A 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 manifold has numerous structural features and forming welds, all subject to extremely stringent forming quality requirements. Specifically, the forming welds, categorized by the manifold's functional areas, are divided into flow channel welding and sealing area welding. The corresponding welding materials are mostly metals, with the thickness of a single material controlled between 0.05 and 0.3 mm. Specifically: the weld surface should be smooth and flat, free from obvious weld beads, depressions, porosity, cracks, and other defects; the weld should smoothly transition with the base material, free from obvious undercut, lack of fusion, incomplete penetration, and other defects; the shape and size of the weld should meet design requirements and not exceed allowable deviations; the weld surface should be free from defects such as incomplete welds, miswelds, and slag inclusions that affect usability and aesthetics. An upstream new energy vehicle manufacturer 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 manifold plates. Multiple support fixtures are sequentially arranged on a circular conveyor belt. Under the conveying force of the conveyor belt, each manifold passes through an upstream inspection station. During this process, an upstream vision inspection camera captures a complete front image of the manifold. Then, a flipping robot performs a 180° flipping operation on the manifold, allowing it to continue flowing under the conveying force and passing through a downstream inspection station. During this process, a downstream vision inspection camera captures a complete back image of the manifold. 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 data is easily distorted during processing, leading to frequent false positives and false negatives of weld defects. In view of this, our company has recently developed a visual inspection device for fuel cell manifolds.
[0004] Currently, multi-degree-of-freedom (DOF) pick-up robots are typically used to pick up and transfer manifolds piece by piece. A vacuum suction cup is attached to the end of the robot, utilizing negative pressure to adhere the manifold. However, in existing technology, the multiple vacuum nozzles belonging to the vacuum suction cup are evenly distributed on the mounting plate with fixed relative positions. In practical applications, this only applies to manifolds within a specific size range, resulting in poor versatility of existing multi-DOF pick-up robots. When the size range of the manifolds to be transferred is large, the entire vacuum suction cup needs to be disassembled and replaced, which is time-consuming and labor-intensive. Therefore, it is urgent for technicians to solve the above problems. Utility Model Content
[0005] 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 multi-degree-of-freedom picking robot for fuel cell manifolds.
[0006] To address the aforementioned technical problems, this utility model relates to a multi-degree-of-freedom (DOF) robotic arm for picking up fuel cell current collectors, belonging to the category of fuel cell current collector vision inspection equipment. It includes a multi-DOF robotic arm and an adsorption picking fixture. The adsorption picking fixture is used to pick up fuel cell current collectors one by one, and its posture changes due to the driving force from the multi-DOF robotic arm, allowing the fuel cell current collectors to be transferred. The adsorption picking fixture includes a base plate and multiple vacuum adsorption components. All vacuum adsorption components are mounted on the base plate, and their relative positions and sway angles can be adjusted according to the different specifications of the current collectors to be pre-adsorbed.
[0007] 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 substrate and is detachably fixed to the substrate by means of a fastening component. Multiple vacuum nozzles cooperate to pick up the collector plate and are assembled with the support plate by insertion. Insertion through holes adapted to the outer diameter of the vacuum nozzles are provided on the support plate.
[0008] As a further improvement to the technical solution disclosed in this utility model, the vacuum adsorption assembly also includes an upper nut and a lower nut. The outer wall of the vacuum nozzle is simultaneously formed with an upper external thread section adapted to the upper nut and a lower external thread section adapted to the lower nut. When the vacuum nozzle is inserted into position relative to the support plate, the upper nut and the lower nut work together to tighten it.
[0009] As a further improvement to the technical solution disclosed in this utility model, the insertion through hole is an elongated waist-shaped hole that extends along the length direction of the support plate.
[0010] 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 substrate has threaded holes adapted to both the first and second screws. The support plate also has mounting holes adapted to the outer diameter of the first screw and an arc-shaped hole for the second screw to pass through freely. After the support plate is initially assembled relative to the substrate, 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 deflection angle of the vacuum adsorption assembly, the support plate rotates circumferentially around the central axis of the first screw, and the maximum and minimum deflection angles of the support plate are limited by the combined action of the second screw and the arc-shaped hole.
[0011] As a further improvement to the technical solution disclosed in this utility model, multiple clearance notches are formed on the substrate and arranged sequentially along its length. Some vacuum adsorption components can pass through the clearance notches to achieve adsorption on the non-edge areas of the current collector.
[0012] As a further improvement to the technical solution disclosed in this utility model, the number of threaded holes is set to multiple, and they are opened around the avoidance notch.
[0013] In practical applications, multiple vacuum adsorption components belonging to the adsorption-pickup fixture work together to achieve stable adsorption and pickup of the current collector plate. The adsorption-pickup fixture, driven by the multi-degree-of-freedom robotic arm, can change its posture, allowing the current collector plate to move between different workstations. Furthermore, the adsorption-pickup fixture is adjustable, allowing workers to easily and quickly adjust the relative positions and yaw angles of the multiple vacuum adsorption components to adapt it to different models and specifications of current collector plates. This effectively expands the applicability of the multi-degree-of-freedom pickup robot for fuel cell current collector plates, giving it excellent versatility. Attached Figure Description
[0014] 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.
[0015] Figure 1 This is a three-dimensional schematic diagram of the visual inspection device for fuel cell manifolds in this utility model.
[0016] Figure 2 yes Figure 1 A magnified view of part of I.
[0017] Figure 3 yes Figure 1A magnified view of part II.
[0018] Figure 4 This is a three-dimensional schematic diagram from one perspective of the multi-degree-of-freedom picking robot for the fuel cell manifold in this utility model.
[0019] Figure 5 This is a three-dimensional schematic diagram of the multi-degree-of-freedom picking robot for the fuel cell manifold in this utility model from another perspective.
[0020] Figure 6 This is a three-dimensional schematic diagram of the adsorption and pickup tooling in the multi-degree-of-freedom pickup robot hand of the fuel cell current collector of this utility model.
[0021] Figure 7 This is a three-dimensional schematic diagram of the base plate of the multi-degree-of-freedom picking robot for the fuel cell current collector of this utility model.
[0022] Figure 8 This is a three-dimensional schematic diagram of the vacuum adsorption component in the multi-degree-of-freedom pickup manipulator of the fuel cell current collector of this utility model.
[0023] Figure 9 This is a three-dimensional schematic diagram of the carrier plate of the multi-degree-of-freedom pickup robot of the fuel cell current collector plate of this utility model.
[0024] 1-Multi-degree-of-freedom robotic arm; 2-Adsorption and pickup fixture; 21-Baseboard; 211-Threaded hole; 212-Avoidance notch; 22-Vacuum adsorption assembly; 221-Carrier plate; 2211-Insertion through hole; 2212-Mounting hole; 2213-Arc-shaped hole; 222-Vacuum nozzle; 223-Fasting assembly; 2231-First screw; 2232-Second screw; 224-Upper nut; 225-Lower nut. Detailed Implementation
[0025] The present invention will be further described in detail below with reference to specific embodiments. Figure 1 A three-dimensional schematic diagram of the visual inspection equipment for fuel cell manifolds of this utility model is shown. It can be seen that it mainly consists of a machine base, a manifold loading system, a material carrying unit, a material transfer unit, an optical inspection unit, a temporary storage fixture for non-defective manifolds, and a good manifold output system. A batch of manifolds are supplied to the manifold loading system, where a multi-DOF (degree of freedom) picking robot for fuel cell manifolds picks them up one by one and transfers them to the material carrying unit. Under the action of the optical inspection unit, after each manifold has completed image acquisition, another multi-DOF picking robot for fuel cell manifolds picks them up one by one using an adsorption method and continues to transfer them to the temporary storage fixture for non-defective manifolds or the good manifold output system (e.g., [missing information]). Figure 2 , 3 (as shown in the image).
[0026] Figure 4 , Figure 5 The diagrams show two different perspectives of the multi-degree-of-freedom (DOF) manipulator for picking up fuel cell current collectors according to this invention. It can be seen that the manipulator mainly consists of two parts: a multi-DOF manipulator arm 1 and an adsorption / pickup fixture 2. The multi-DOF manipulator arm 1 is mounted on a machine platform and is detachably fixed. The adsorption / pickup fixture 2 is used to pick up the fuel cell current collectors one by one, and its posture changes due to the driving force from the multi-DOF manipulator arm 1, thus transferring the fuel cell current collectors.
[0027] like Figure 6 As shown, the adsorption pickup fixture 2 includes a substrate 21 and multiple vacuum adsorption components 22. The multiple vacuum adsorption components 22 are all mounted on the substrate 21 and work together to achieve vacuum adsorption of the current collector.
[0028] like Figure 8 As shown, the vacuum adsorption assembly 22 mainly consists of a support plate 221, vacuum nozzles 222, fastening components 223, an upper nut 224, and a lower nut 225. The support plate 221 is in contact with the substrate 21 and is detachably fixed to the substrate 21 by means of the fastening components 223. Multiple vacuum nozzles 222 are assembled with the support plate 221 by insertion. The support plate 221 has insertion through holes 2211 that are adapted to the outer diameter of the vacuum nozzles 222, and these holes are elongated, waist-shaped holes extending along the length of the support plate 221 (e.g.,...). Figure 9 (As shown in the diagram). After the vacuum nozzle 222 is inserted into position relative to the support plate 221, the upper nut 224 and the lower nut 225 work together to tighten it. The outer wall of the vacuum nozzle 222 is simultaneously formed with an upper external thread section that matches the upper nut 224 and a lower external thread section that matches the lower nut 225. Thus, if the model or specifications of the pre-pickup collector plate change and exceed the applicable range of the adsorption pickup fixture 2, the worker can adjust the relative position of the relevant vacuum adsorption components 22. Specifically, the worker loosens the upper nut 224 or the lower nut 225 to release the tightening of the vacuum nozzle 222, then drags the vacuum nozzle 222 along the length of the support plate 221 until the desired result is achieved. Finally, the upper nut 224 or the lower nut 225 is tightened again. The entire operation is convenient and quick. Multiple vacuum nozzles 222 can work together to utilize the negative pressure effect to pick up the manifold.
[0029] Depend on Figure 6 , 7As shown in Figure 8, the fastening assembly 223 is composed of a first screw 2231 and a second screw 2232, and both have the same model and specifications. The substrate 21 is provided with threaded holes 211 that are compatible with both the first screw 2231 and the second screw 2232, as well as clearance notches 212. There are multiple clearance notches 212, arranged linearly along the length of the substrate 21. There are also multiple threaded holes 211, which are formed around the clearance notches 212. Figure 9 As shown, the support plate 221 is simultaneously formed with a mounting hole 2212 that matches the outer diameter of the first screw 2231 and an arc-shaped hole 2213 for the second screw 2232 to pass through freely. After the support plate 221 is initially assembled relative to the substrate 21, the first screw 2231 and the second screw 2232 pass through the mounting hole 2212 and the arc-shaped hole 2213 respectively, and occupy two adjacent threaded holes 211. In this case, if the model and specifications of the pre-pickup collector plate change, exceeding the applicable range of the adsorption pickup fixture 2, and it is difficult to achieve stable adsorption of the collector plate by simply adjusting the relative position of the vacuum adsorption component 22, the worker needs to adjust the swing angle of the vacuum adsorption component 22 to further expand the applicable range of the adsorption pickup fixture 2. Specifically, during the process of adjusting the swing angle of the vacuum adsorption component 22, the support plate 221 rotates around the central axis of the first screw 2231 as the circumferential rotation reference. Under the synergistic effect of the second screw 2232 and the arc hole 2213, the maximum and minimum swing angles of the support plate 221 are limited, and part of the vacuum adsorption component 22 can pass through the clearance notch 212 to achieve adsorption of the non-edge area of the collector plate.
[0030] In practical applications, multiple vacuum adsorption components 22 belonging to the adsorption and pickup fixture 2 work together to achieve stable adsorption and pickup of the current collector plate. The adsorption and pickup fixture 2 is able to change its posture due to the driving force from the multi-degree-of-freedom robotic arm 1, allowing the current collector plate to move between different workstations. Furthermore, the adsorption and pickup fixture 2 is adjustable, allowing workers to easily and quickly adjust the relative positions and yaw angles of the multiple vacuum adsorption components 22 to make it suitable for different models and specifications of current collector plates. This effectively expands the applicability of the multi-degree-of-freedom pickup robot for fuel cell current collector plates, giving it excellent versatility.
[0031] 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 multi-degree-of-freedom (DOF) manipulator for picking up fuel cell manifolds, belonging to the category of fuel cell manifold vision inspection equipment, comprising a multi-DOF robotic arm and an adsorption picking fixture; the adsorption picking fixture is used to pick up fuel cell manifolds one by one, and its posture changes due to the driving force from the multi-DOF robotic arm, thereby transferring the fuel cell manifolds, characterized in that, The adsorption pickup fixture includes a substrate and multiple vacuum adsorption components; the multiple vacuum adsorption components are all mounted on the substrate, and their relative positions and sway angles can be adjusted according to the different specifications of the pre-adsorption current collector. The vacuum adsorption assembly includes a support plate and vacuum nozzles; the support plate is in contact with the substrate and is detachably fixed to the substrate by means of a fastening assembly; multiple vacuum nozzles cooperate to pick up the current collector plate and are assembled with the support plate by insertion; the support plate has insertion through holes that are adapted to the outer diameter of the vacuum nozzles. The vacuum adsorption assembly also includes an upper nut and a lower nut; the outer wall of the vacuum nozzle is simultaneously formed with an upper external thread section adapted to the upper nut and a lower external thread section adapted to the lower nut; when the vacuum nozzle is inserted into the bearing plate, the upper nut and the lower nut work together to tighten it. The insertion through hole is an elongated waist-shaped hole that extends along the length of the support plate.
2. The multi-degree-of-freedom picking robot for fuel cell manifolds according to claim 1, characterized in that, The fastening assembly consists of a first screw and a second screw of the same type and specification; the substrate has threaded holes that are compatible with both the first screw and the second screw; the support plate is simultaneously 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 support plate is initially assembled relative to the substrate, 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 support plate rotates around the central axis of the first screw as a circumferential rotation reference, and the maximum and minimum deflection angles of the support plate are limited by the synergistic effect of the second screw and the arc-shaped holes.
3. The multi-degree-of-freedom picking robot for fuel cell manifolds according to claim 2, characterized in that, Multiple clearance notches are provided on the substrate and arranged sequentially along its length; some of the vacuum adsorption components can pass through the clearance notches to achieve adsorption on the non-edge area of the current collector.
4. The multi-degree-of-freedom picking robot for fuel cell manifolds according to claim 3, characterized in that, The number of threaded holes is set to multiple, and they are opened around the clearance notch.