Handling apparatus and method for lifting flat objects

Abstract

A handling device (1) for separating two flat, not entirely contiguous objects of a first type (4) and a second type (5) placed alternately on top of each other comprises at least one main gripper (7) provided for gripping one of the first type of flat objects (4) and at least one auxiliary gripper (12) provided for gripping one of the second type of flat objects (5), wherein the different grippers (7, 12) are held by a common support structure (6, 8) and are displaceable vertically relative to each other, thereby enabling the creation of increasing spacing between the different flat objects (4, 5) when lifting them.

Description

Technical Field

[0001] The present invention relates to a handling device suitable for separating flat objects stacked in different types, wherein the first type of object and the second type of object are alternately arranged in a laminate. Furthermore, the present invention relates to a method for lifting stacked flat objects that provides an alternating layer arrangement.

Background Art

[0002] Patent Document 1 discloses an apparatus and method for laminating fuel cell components. In this case, it is based on the fact that the cell components capable of manufacturing a fuel cell are separated and supplied. The cell components, which are separated, that is, assemblies spaced apart from each other, are supplied to a vertical stacker. The vertical stacker includes a vertical magazine, and the vertical magazine enables the up and down movement of the cell components accommodated therein. The vertical stacker is formed to deliver the cell components vertically downward one by one. Overall, the apparatus described in Patent Document 1 is conceived for mass production of fuel cells.

[0003] From Patent Document 2, a vacuum gripper having a plurality of suction points is known. In this case, the suction points communicate with a control unit of the vacuum gripper system. The suction points have sensors and valves, and the sensors are arranged in the decompression line. According to Patent Document 2, it is contemplated that each suction point is equipped with an individual decompression generator.

[0004] Patent Document 3 describes a controlled apparatus for non-contact separation, centering, gripping, and handling of flat disk-shaped objects. A part of this apparatus is a compressed air supply unit, and a periodic compressed air flow that impinges on the laminate will result in the separation of the overlapping flat disk-shaped objects. The apparatus described in Patent Document 3 can be used especially for handling semiconductor wafers and solar cells.

[0005] Further apparatus for handling objects having a particularly flat shape are known from Patent Documents 4, 5, 6, and 7. [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] European Patent Application Publication No. 4002533 [Patent Document 2] German Utility Model No. 202006021243 Specification [Patent Document 3] German Patent Application Publication No. 102007025098 Specification [Patent Document 4] German Patent Application Publication No. 102012200535 Specification [Patent Document 5] German Patent Application Publication No. 102017107215 [Patent Document 6] German Patent Application Publication No. 102013201247 Specification [Patent Document 7] German Patent Application Publication No. 102015119321 Specification [Overview of the Initiative] [Problems that the invention aims to solve]

[0007] The object of the present invention is to further develop the handling of flat components, particularly those provided for assembling fuel cell stacks, compared to the prior art described above, and to achieve a particularly favorable ratio between equipment cost and process safety. [Means for solving the problem]

[0008] The present invention solves this problem with a handling device having the features of claim 1. Similarly, the present invention solves this problem with a method for lifting a flat object of a laminate as described in claim 10. The embodiments and advantages of the present invention described below in relation to this method also apply similarly to a handling device formed as a separation device, and vice versa.

[0009] Assuming there is a laminate constructed from a first type of flat object and a second type of flat object, these different objects are placed alternately on top of each other. In this case, the first type of object does not completely cover the second type of object placed beneath it. This means that these different objects are not arranged in the laminate in a way that is completely congruent. The difference from a completely congruent assembly may be provided, in particular, by the fact that the first type of object has cutouts, and as a result, if the first object is the top layer of the entire laminate, the dimensions of the flat sections corresponding to the cutouts of the second object can be seen from above. Alternatively, the second object below may protrude laterally beyond the first object. In any case, these different objects are cut and arranged simultaneously in such a way that there is a principle of possibility of lifting them, in particular by using decompression.

[0010] For this purpose, the handling device comprises at least one main gripper and at least one auxiliary gripper. The main gripper is provided for lifting a first type of flat object. For example, the main gripper is formed as a vacuum gripper designed for suction of a first type of flat object. Alternatively, the main gripper may be based on any other physical principle. For example, the main gripper is an adhesive gripper, a flow gripper, or a magnetic gripper. Correspondingly, the auxiliary gripper is also a vacuum gripper or another gripper suitable for lifting a flat object.

[0011] Wherever the main vacuum gripper or auxiliary vacuum gripper is referred to below, the corresponding embodiments also apply in a similar manner to other types of main or auxiliary grippers. While the main gripper lifts a first type of flat object, at least one auxiliary gripper, in particular an auxiliary vacuum gripper, can lift a second type of flat object beneath it in any case. Typically, the surface density of the second type of object is less than that of the first type of object.

[0012] Different grippers, particularly vacuum grippers, are held by a common support structure and are displaceable relative to each other in the vertical direction, thereby creating an increasing gap between different flat objects when lifting them.

[0013] Optionally, there may be one or more outlets connected to an auxiliary vacuum gripper, provided to guide airflow between different flat objects. Injecting air into the gap formed between the objects after both flat objects have been lifted contributes to continuously peeling the lower flat object away from the upper flat object. Outlets available for this purpose are, for example, located in a vertical tube whose lower end is fixed to the auxiliary vacuum gripper.

[0014] According to possible embodiments, the auxiliary grippers are spring-suspended relative to the main vacuum gripper or other main gripper, particularly in the form of auxiliary vacuum grippers, to maximize the vertical spacing between different grippers, i.e., to enlarge the gap. This is also true when the handling device has multiple auxiliary vacuum grippers, for example, two auxiliary vacuum grippers that are relatively small compared to the main grippers, and the two auxiliary vacuum grippers are positioned lateral to the main gripper on sides symmetrically opposite to each other. For spring suspension, for example, a retaining spring is suitable in the form of a coil spring. Instead of a retaining spring that applies force to the auxiliary vacuum grippers, a tension spring acting on the main grippers may be used. In all cases, the final separation of the second flat object positioned below can be assisted by an airflow originating from the auxiliary vacuum grippers and directed downward.

[0015] In a possible developmental form, the container has a shear plate, which fits into a gap formed between two different flat objects and is provided to forcibly separate the lower of the two flat objects from the auxiliary vacuum gripper when feeding the flat objects. The mechanical action of the shear plate, i.e., feeding the flat objects detached by the auxiliary vacuum gripper into the container, is optionally assisted by a blower, i.e., a suction device, located in or connected to the container.

[0016] The handling device can be used, in particular, to lift stacked fuel cell components. The first type of flat object may be a bipolar plate or a membrane electrode assembly. The second type of flat object may be an intermediate liner, which will be discarded in such cases.

[0017] In a method for lifting different types of flat objects in a stacked configuration, the objects are arranged so that no first type of flat object completely covers the second type of flat object beneath it, and this method generally follows the following: At the same time, a step of bringing a first type of flat object into contact with a main gripper in the form of, for example, a vacuum gripper or a flow gripper, and bringing a second type of flat object into contact with at least one auxiliary gripper, where the auxiliary gripper may also be formed as, for example, a vacuum gripper or a flow gripper, the step of bringing into contact; A step of vertically moving away the main gripper together with the first type of flat object from an assembly consisting of one auxiliary gripper or a plurality of auxiliary grippers and the second type of object; A step of guiding jet air into a gap formed between different types of flat objects, thereby moving away the second type of flat object from at least one auxiliary gripper; A step of further transporting the first type of flat object held by the main gripper while the second type of object is being peeled off by the auxiliary gripper; including.

[0018] The second type of flat object is typically a layer made of a flexible material. The first type of flat object may be formed from a flexible material or a rigid material. Peeling off the flexible layer and supplying the first type of object thereon to a mounting device not incorporated in the handling device is performed at a fast pace up to a tact time of less than one second.

[0019] Embodiments of the present invention will be described in more detail below with reference to the drawings.

Brief Description of the Drawings

[0020] [Figure 1] It is a schematic view of a handling device for lifting different flat objects of a laminate. [Figure 2] It is a schematic view showing the handling device together with a container for accommodating the layer to be discarded of the laminate of flat objects. [Figure 3] It is a plan view of the components of the assembly described in FIG. 2.

Modes for Carrying Out the Invention

[0021] The handling device, collectively designated reference numeral 1, includes a gripper device 2 and is used during the assembly of a fuel cell stack. The gripper device 2 is designed to lift objects 4 and 5 of a plate assembly 3, commonly referred to as a stack. Inside the stack 3, different objects 4 and 5 are stacked alternately to form layers. The figure shows at most one pair of objects 4 and 5.

[0022] The gripper device 2 incorporates a vertically displaceable central support 6, from which a transverse beam 8 extends. The central support 6 and the transverse beam 8 are components of the support structure. A main gripper 7 is suspended from the central support 6. In this specification, the main gripper 7 is a flow gripper. Alternatively, the main gripper 7 may be formed as, for example, a vacuum gripper. Two gripper devices are connected to the central support 6 via the transverse beam 8, the two gripper devices collectively referred to as lateral grippers 9 and 10, respectively, and are positioned lateral to the main gripper 7, symmetrically opposite to each other. Each lateral gripper 9 and 10 incorporates a vertical tube 11, which is spaced parallel to the central support 6. The vertical tube 11 positioned rearward in the assembly shown in Figure 1 is not visible in this illustration. An auxiliary gripper 12, formed as a vacuum gripper in this specification, is suspended from the vertical tube 11. The vertical tube 11 is displaceable relative to the central support 6 in its longitudinal direction, and as a result, the auxiliary vacuum gripper 12 is movable perpendicular to the main gripper 7. Exemplarily, Figure 1 shows a compressed air armature 13 to which the auxiliary vacuum gripper 12 is connected. A spring 14 applies a downward pressing force to the auxiliary vacuum gripper 12 in the vertical direction.

[0023] In the lower region of the vertical tube 11, i.e., somewhat above the auxiliary vacuum gripper 12, there is an outlet 15 that allows for the blowing of the airflow LS substantially horizontally. Furthermore, the auxiliary vacuum gripper 12 can also discharge the airflow LS downward in this case vertically. The air drawn in by the vacuum grippers 7 and 12 is generally referred to as the intake air AL.

[0024] As long as plate assembly 3 is not yet fabricated, the different flat objects 4 and 5 are directly stacked on top of each other. In the assemblies shown in Figures 1 to 3, the upper object 4, also commonly referred to as the main plate or upper layer, is in this embodiment a bipolar plate that can be assembled into a fuel cell stack together with further components. Similarly, the main plate 4 is a membrane electrode assembly also provided for incorporation into a fuel cell stack. Unlike the upper layer 4, the second flat object 5, also referred to as the intermediate liner, is intended solely to separate the main plate 4 from each other within plate assembly 3 and is not provided for incorporation into a fuel cell stack. As is evident from the figures, the intermediate liner 5 is clearly thinner than the upper layer 4. Furthermore, the intermediate liner 5 is clearly more flexible than the main plate 4.

[0025] When lifting the main plate 4 from the plate assembly 3, it should be noted that the intermediate liner 5 is reliably removed before the main plate 4 is incorporated into the fuel cell stack. First, the two separate flat objects 4 and 5 are properly lifted together from the plate assembly 3. When the gripper device 2 is placed on the plate assembly 3, the auxiliary vacuum gripper 12 strikes the notch in the main plate 4, and as a result, the auxiliary vacuum gripper 12 makes direct contact with the intermediate liner 5, allowing it to be lifted. At the same time, the main gripper 7 makes contact with the flat area of ​​the main plate 4 that does not have a notch.

[0026] Starting from this state, where the main plate 4, along with the intermediate liner 5, is sucked into the gripper device 2 under reduced pressure, the central support 6 is lifted together with the main gripper 7, resulting in the state schematically shown in Figure 1. In this case, the vertical tube 11 is pushed downward by the spring 14 together with the auxiliary vacuum gripper 12, which means separating the intermediate liner 5 from the main plate 4. In this case, the outlet 15 is located in the gap formed between the two different flat objects 4 and 5, as can be seen in Figure 1. To separate the intermediate liner 5 from the auxiliary vacuum gripper 12, compressed air is discharged from the outlet 15 as well as from the auxiliary vacuum gripper 12.

[0027] A container 16, as shown in Figures 2 and 3, is available for discarding the intermediate liner 5. The container wall is numbered 17. In addition to the wall 17, the container 16 has a shear plate 18 in its upper region. When the assembly consisting of two flat objects 4, 5 is moved in the transport direction FR, the shear plate 18 enters the gap between the different objects 4, 5, as is evident in Figures 2 and 3. Thereafter, the shear plate 18 peels off the intermediate liner 5 until the intermediate liner 5 falls into the container 16 on its own. In this embodiment, the transfer of the intermediate liner 5 to the container 16 is assisted by a suction device 19. [Explanation of Symbols]

[0028] 1. Handling equipment 2. Gripper device 3. Plate assemblies, laminates 4. First type of flat object, main plate, upper layer 5. Second type of flat object, intermediate liner 6 Central support 7 Main Gripper 8 horizontal beams 9 Lateral grippers 10 Lateral grippers 11 Vertical tube 12 Auxiliary Grippers 13 Compressed air armature 14 springs 15 air outlets 16 Container 17 Container wall 18 Shear plate 19 Suction device AL Intake Air FR transport direction LS airflow

Claims

1. A handling device (1) for separating two flat, not entirely contiguous objects of a first type (4) and a second type (5) placed alternately on top of each other, comprising at least one main gripper (7) provided for gripping one of the first type of flat objects (4) and at least one auxiliary gripper (12) provided for gripping one of the second type of flat objects (5), wherein the different grippers (7, 12) are held by a common support structure (6, 8) and are displaceable vertically relative to each other, thereby enabling the creation of increasing spacing between the different flat objects (4, 5) when lifting the flat objects (4, 5).

2. The handling device (1) according to claim 1, characterized in that the auxiliary gripper (12) is spring-suspended from the main gripper (7) to maximize the vertical distance between different grippers (7, 12).

3. The handling device (1) according to claim 1 or 2, wherein the auxiliary gripper (12) is provided with a nozzle (15), and the nozzle (15) works to guide an airflow between the different flat objects (4, 5).

4. The handling device (1) according to any one of claims 1 to 3, characterized in that at least two auxiliary grippers (12) are arranged symmetrically opposite to each other and next to the main gripper (7).

5. The handling device (1) according to claim 4, characterized in that the auxiliary gripper (12) is smaller than the main gripper (7).

6. The handling device (1) according to any one of claims 3 to 5, characterized in that the at least one auxiliary gripper (12) is also formed to discharge airflow directed downward.

7. The handling device (1) according to any one of claims 1 to 6, wherein the container (16) has a shear plate (18) which fits into a gap formed between different flat objects (4, 5) and is provided to forcibly separate the lower object (5) of both flat objects from the auxiliary gripper (12) when the flat objects (4, 5) are being fed.

8. Use of the handling device (1) according to claim 1 for lifting stacked fuel cell components (4).

9. The use according to claim 8, characterized in that the handling device (1) is used to separate fuel cell components (4), the fuel cell components (4) are selected from a group of components including bipolar plates and membrane electrode assemblies and are lifted using the main gripper (7), while the flat object (5) lifted using the auxiliary gripper (12) is an intermediate liner not provided for incorporation into a fuel cell stack.

10. A method for lifting different types of flat objects (4, 5) in a stacked configuration, A step of preparing a laminate of the flat objects (4, 5), wherein the first type of flat object (4) does not completely cover the second type of flat object (5), Simultaneously, the process involves bringing the first type of flat object (4) into contact with the main gripper (7) and bringing the second type of flat object (5) into contact with at least one auxiliary gripper (12), The process involves moving the main gripper (7) together with the first type of flat object (4) perpendicularly away from the assembly consisting of the auxiliary gripper (12) and the second type of object (5), A step of injecting air into a gap formed between two different types of flat objects (4, 5), While the second type of object (5) is being peeled off by the auxiliary gripper (12), the first type of flat object (4) held by the main gripper (7) is further transported. Methods that include...

Images