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CN-122000402-A - Full-automatic servo press-fitting stacking system of phosphoric acid fuel cell stack

CN122000402ACN 122000402 ACN122000402 ACN 122000402ACN-122000402-A

Abstract

The application relates to the field of fuel cells, discloses a full-automatic servo press-fitting stacking system of a phosphoric acid fuel cell stack, and relates to the technical field of fuel cell manufacturing. The system comprises a double-section conveyor belt, a phosphate spraying device, a weight detection device, a sub-stacking conveyor belt, a visual positioning unit, a six-axis robot, a servo press and a control unit. The weight detection device obtains the weight difference before and after spraying of the electrode assembly through the weighing sensor to calculate the actual spraying load, and the control unit corrects the press-fitting dead center coordinate of the servo press in real time according to the actual spraying load, so that tolerance accumulation generated by fluctuation of the coating thickness is counteracted. The visual positioning unit is used for identifying the deviation of the pose and the gravity center of the assembly and dynamically adjusting the carrying acceleration of the robot so as to prevent the displacement of the coating. The system adjusts the speed of the sub-stacking conveyor belt through the production takt synchronous model, and achieves phase alignment of spraying and stacking procedures. The application realizes the full-flow closed-loop control from material monitoring to precise press fitting.

Inventors

  • LU CONG

Assignees

  • 中科润谷智慧能源科技(佛山)有限公司

Dates

Publication Date
20260508
Application Date
20260210

Claims (10)

  1. 1. The full-automatic servo press-fitting stacking system of the phosphoric acid fuel cell stack is characterized by comprising a double-section conveyor belt (1), a phosphate spraying device (2), a weight detection device (3), a sub-stacking conveyor belt (4), a visual positioning unit (5), a six-axis robot (6), a servo press (7), a control unit (8), a stacking platform (9) and a sub-stacking platform (10), wherein the double-section conveyor belt (1) is used for conveying an electrode assembly to be processed and a separator assembly to a spraying station, the phosphate spraying device (2) is arranged above the double-section conveyor belt (1) and is used for spraying the electrode assembly, the weight detection device (3) comprises a weighing sensor A (31) positioned at the inlet end of the spraying station and a weighing sensor B (32) positioned at the outlet end of the spraying station and is respectively used for acquiring initial weight data before spraying of the assembly and real-time weight data after spraying, the visual positioning unit (5) is used for capturing image information of the assembly and extracting space coordinates, a deflection angle and a center of gravity, the control unit (8) is arranged above the double-section conveyor belt (1) and is used for carrying out spraying operation on the electrode assembly, the actual weight data, the weight data is combined with the control unit (7) and the real-time weight data after spraying station is used for carrying out the spraying operation, the real-time weight data is combined with the real-time weight data, and the real-time weight data is generated by the servo positioning machine (6), the control unit (8) calculates a stroke compensation amount according to the accumulated actual spraying load and corrects the press-fitting dead point coordinates of the servo press (7) according to the stroke compensation amount.
  2. 2. The full-automatic servo press-fit stacking system of a phosphoric acid fuel cell stack according to claim 1, wherein the phosphate spraying device (2) comprises a phosphate storage tank (21), a stirrer (22), a pump (23), a pipeline (24), a spray head (25), a spraying platform (26) and a gas collecting hood (27), wherein the stirrer (22) is coaxially arranged inside the phosphate storage tank (21), and the control unit (8) controls the actual spraying load applied to the electrode assembly by adjusting the rotating speed of the pump (23).
  3. 3. The full-automatic servo press-fitting stacking system of the phosphoric acid fuel cell stack according to claim 1, wherein the sub-stacking platform (10) is arranged at the side of the double-section conveyor belt (1) and is used for assembling the electrode assemblies and the separator assemblies into a sub-stacking unit, and the sub-stacking conveyor belt (4) is connected with the sub-stacking platform (10) and a grabbing station of the six-axis robot (6).
  4. 4. A fully automatic servo press-fit stacking system of a phosphoric acid fuel cell stack according to claim 3, wherein the control unit (8) is integrated with a production takt synchronous model, and the variable frequency speed of the sub-stack conveyor belt (4) is adjusted in real time by the real-time process qualification rate counted by the weight detection device (3) so as to keep the arrival frequency of the sub-stack unit consistent with the processing frequency of the electrode assembly.
  5. 5. The fully automatic servo press-fit stacking system of a phosphoric acid fuel cell stack according to claim 4, wherein the control unit (8) dynamically sets the variable frequency speed of the sub-stack conveyor belt (4) according to the product-to-ratio relationship of the characteristic distribution pitch of components to be grasped on the sub-stack conveyor belt (4), the cycle frequency of the servo press (7), and the real-time process yield.
  6. 6. The full-automatic servo press-fit stacking system of the phosphoric acid fuel cell stack according to claim 1, wherein the control unit (8) calculates the total mass of the assembly according to the actual spraying load, calculates the maximum allowable acceleration of the six-axis robot (6) in the carrying process by combining the grabbing force and the friction coefficient of the end effector of the six-axis robot (6), and sets the upper limit of the acceleration slope of the motion track.
  7. 7. The full-automatic servo press-fitting stacking system of the phosphoric acid fuel cell stack according to claim 1, wherein the motion path of the six-axis robot (6) comprises a lifting section, a translation section and a descending section, and in the translation section, the control unit (8) limits the total acceleration of the track tangential direction to be in a preset range so as to prevent the phosphate coating on the surface of the electrode assembly from leveling deviation.
  8. 8. The fully automatic servo press-fit stacking system of a phosphoric acid fuel cell stack according to claim 1, wherein the control unit (8) executes an adaptive compensation algorithm to determine the target bottom dead center displacement coordinates of the press-fit dead center coordinates according to the total number of layers currently accumulated, the theoretical design thickness of each layer of components, the actual spray load, and the accumulated result of a preset linear compensation factor.
  9. 9. The full-automatic servo press-fitting stacking system of the phosphoric acid fuel cell stack according to claim 1, wherein the servo press (7) is integrated with a displacement encoder, the control unit (8) controls the servo press (7) to perform constant press-fitting and monitor the numerical change through the displacement encoder within a press-holding time every time the number of stacked layers reaches a preset press-fitting period number, and if the displacement deviation exceeds a tolerance range, the displacement deviation is fed back to the next press-fitting period for error correction.
  10. 10. The full-automatic servo press-fit stacking system of the phosphoric acid fuel cell stack according to any one of claims 1 to 9, wherein the control unit (8) judges the assembly qualification according to the comparison result of the actual spraying load and a preset standard load interval, and if the comparison result exceeds the preset standard load interval, a rejection instruction is sent to a sorting mechanism to prevent unqualified assemblies from entering the stacking platform (9).

Description

Full-automatic servo press-fitting stacking system of phosphoric acid fuel cell stack Technical Field The invention relates to the technical field of fuel cells, in particular to a full-automatic servo press-fitting stacking system of a phosphoric acid fuel cell stack. Background The fuel cell stack is an energy conversion core unit formed by alternately stacking bipolar plates, electrodes, sealing members and the like in a specific order. In the current galvanic pile assembly process, a semi-automatic or manual stacking mode is generally adopted. In the existing assembly process, the phosphate spraying quality on the surface of the electrode cannot realize real-time linkage with the assembly end, so that dimensional tolerance is generated between each layer of components due to small deviation of the thickness of the coating. This bias builds up continuously during the multi-layer stacking process, making it difficult for the overall height of the finished stack to meet design uniformity requirements. Meanwhile, in the process of transferring the component with the wet phosphate coating from the conveyor belt to the stacking platform, the component is extremely easy to shift or the coating leveling shifts due to the inertia effect generated by acceleration or deceleration due to lack of dynamic parameter compensation. This situation destroys the pose accuracy of the assembly on the stacking platform, directly affecting the quality of subsequent alignment. In addition, conventional production lines often fail to effectively handle the rate differences between chemical spray processes and mechanical stacking procedures. The quality detection delay or station vacancy caused by rejection of unqualified components in the spraying link can cause beat disorder of downstream stacking stations. The mismatch of rhythms among the processes causes the phenomenon that the servo press equipment frequently idles or stops waiting, and limits the overall operation efficiency and the standardized production level of the production line. Therefore, developing integrated equipment capable of realizing material monitoring, high-precision transfer and self-adaptive press fit linkage has become a key requirement for improving the consistency and the production quality of a galvanic pile. Disclosure of Invention Aiming at the defects of the prior art, the invention provides a full-automatic servo press-fitting stacking system of a phosphoric acid fuel cell stack, which solves the problems of low efficiency, poor consistency and inaccurate pressure control in the assembly process of the fuel cell stack. The full-automatic servo press-fitting stacking system of the phosphoric acid fuel cell stack comprises a double-section conveyor belt 1, a phosphate spraying device 2, a weight detecting device 3, a sub-stacking conveyor belt 4, a visual positioning unit 5, a six-axis robot 6, a servo press 7, a control unit 8, a stacking platform 9 and a sub-stacking platform 10. The phosphate spraying device2 is arranged above the two-stage conveyor belt 1 and comprises a phosphate storage tank 21, a stirrer 22, a pump 23, a pipeline 24 and a spray head 25. The agitator 22 is used to maintain the slurry concentration uniform, and the pump 23 delivers the slurry to the spray head 25, performing a spraying operation on the electrode assembly. The weight detection device 3 comprises a weighing sensor A31 positioned at the inlet end of the spraying station and a weighing sensor B32 positioned at the outlet end of the spraying station, and is used for obtaining the weight difference of the components before and after spraying and calculating the actual spraying load. The control unit 8 extracts the actual spraying load of each layer of component, calculates the target bottom dead center displacement coordinate of the servo press 7 in real time by combining the theoretical design thickness of the component and the linear compensation factor, converts microscopic fluctuation of the chemical spraying amount into physical displacement correction of mechanical press fitting, and eliminates the dimensional tolerance generated by thickness accumulation of the multilayer coating. The visual positioning unit 5 recognizes the center coordinates, the deflection angle, and the center of gravity deviation amount of the component through the processing module 52. The control unit 8 calculates the total mass of the assembly in combination with the actual spray load and determines the maximum allowable acceleration of the six-axis robot 6 during handling based on the gripping force of the end effector and the coefficient of friction. In a translation section of path planning, through limiting the combined acceleration, the phosphate coating in a wet state on the surface of the electrode is prevented from displacement or leveling deviation due to inertia, and the pose precision and the coating integrity of the assembly in the high-speed transportation process are ens