CN101436624A - Method for pasting battery string on space solar battery substrate surface - Google Patents

Method for pasting battery string on space solar battery substrate surface Download PDF

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Publication number
CN101436624A
CN101436624A CNA2008102077784A CN200810207778A CN101436624A CN 101436624 A CN101436624 A CN 101436624A CN A2008102077784 A CNA2008102077784 A CN A2008102077784A CN 200810207778 A CN200810207778 A CN 200810207778A CN 101436624 A CN101436624 A CN 101436624A
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negative pressure
tooling
battery string
battery
grabbing
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CN100593864C (en
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李培波
付庄
赵言正
王训春
蔡诗明
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract

一种空间太阳能电源技术领域的空间太阳电池基板表面贴装电池串的方法，本发明中采用负压抓取加压工装和工装夹具组成的布贴机构实现电池串的抓取，采用网版印刷技术在太阳电池串表面涂胶，贴装完成后由负压抓取加压工装对电池串进行加压，实现电池串的涂胶和加压并行操作。本发明可有效解决电池串贴装过程中的溢胶以及电池串变性和贴装气泡问题，实现自动化贴装。

Figure 200810207778

A method for mounting battery strings on the surface of a space solar cell substrate in the field of space solar power supply technology. In the present invention, a cloth sticking mechanism composed of negative pressure grabbing pressurized tooling and tooling fixtures is used to realize the grabbing of battery strings, and screen printing is adopted. The technology applies glue on the surface of the solar cell strings, and after the placement is completed, the negative pressure grabbing and pressurizing tooling pressurizes the battery strings to realize the parallel operation of the glue coating and pressurization of the battery strings. The invention can effectively solve the problems of glue overflow, battery string degeneration and mounting bubbles in the battery string mounting process, and realize automatic mounting.

Figure 200810207778

Description

The method of pasting battery string on space solar battery substrate surface
Technical field
The present invention relates to the method in a kind of battery technology field, specifically is a kind of method of pasting battery string on space solar battery substrate surface.
Background technology
The solar cell for space use battle array is the main mode that most of spacecraft obtains the energy, is the important component part of spacecraft, and its crudy directly influences the quality of whole spacecraft.Automatically mounting large-size ultra-thin flexible battery string at the solar cell for space use substrate surface is very important process procedure in the solar cell for space use battle array course of processing, present China is still manual mode and mounts, not only mount of poor quality, efficient is not high, and working strength of workers is big, poor working environment.The technical shortcoming of this process procedure is mainly reflected in following several respects at present:
1) the gluing mode falls behind, and glue-line shape and bondline thickness are difficult to control, cause or glue excessive too much, perhaps glue is few between battery sheet and substrate, needs to mend glue;
2) battery strings is a flexible body, and easy deformation causes on the solar battery array spacing between the battery sheet very inhomogeneous;
3) pressuring method after mounting is unreasonable, mounts the battery battle array surface irregularity after finishing, and causes excessive glue easily;
4) be easy to generate bubble between battery sheet and the cell substrates;
Wherein glue overflows needs gel resin work, not only expends the plenty of time, and all may cause damage to cell substrates and battery sheet; The flexible sex change of battery strings and mount the outward appearance that surface irregularity then influences solar battery array also can cause a hidden trouble to quality; The existence of bubble has then directly determined the useful life of solar battery array.Therefore must accurately control glue-spread and zone and pressuring method, strive realizing the most firm bonding, eliminating bubble, in the whole position that mounts accurate control battery strings in the process, avoid sex change simultaneously with the glue of optimal dose.
Find through literature search prior art, Wu Yue is new to wait " solar cell for space use mounts system design automatically " of delivering on " Machine Design and research " 2007 the 23rd the 2nd phases of volume to propose a string organ type vacuum cup extracting of a kind of employing battery strings, adopt syringe and the syringe needle time pressure gluing method at the battery strings backsizing, the distortion by the organ type vacuum cup is to the automatic attaching method of space sun substrate surface large-size ultra-thin flexible battery string of the pressurization of the space solar battery string after mounting.This method provides a kind of large-size ultra-thin flexible battery string of realizing to grasp the method for gluing and pressurization automatically, but there is following shortcoming: be difficult to accurate extracting and the location of realization to battery strings because the distortion of vacuum cup and vacuum cup can't be eliminated alignment error, the glue spreading method efficient that is adopted is relatively poor, the cloth attaching mechanism need be to the long-time persistent pressure of battery strings during pressurization, and the working method of this serial has reduced production efficiency.
Summary of the invention
The objective of the invention is to deficiency at the automatic attaching method of large-size ultra-thin flexible battery string in the above-mentioned solar cell for space use substrate surface, a kind of method of pasting battery string on space solar battery substrate surface has been proposed, adopt Robotics and screen printing technology and negative pressure to grasp the pressurization frock, be implemented in the solar cell for space use substrate surface and mount large-size ultra-thin flexible battery string automatically, solve the technical barrier of gluing, bubble, the distortion of flexible battery string and pressurization, improve workman's operational environment simultaneously.
The present invention is achieved through the following technical solutions, the present invention includes following concrete steps:
Step 1 is put into the placement station to battery strings, the facing up of battery strings;
Step 2, frock in the frock clamp grasps the upper surface that sucker absorption negative pressure grasps the pressurization frock, mechanical interlocking catching in the frock clamp negative pressure that links closely grasps the mechanical interlocking bayonet socket of pressurization frock, and simultaneously, battery strings grasps vacuum cup and links to each other with the negative pressure through-hole that negative pressure grasps the pressurization frock;
Step 3, frock clamp turns over turnback, and it is downward to make negative pressure grasp pressurization frock working surface;
Step 4, drive negative pressure extracting pressurization frock by robot control frock clamp and move to large-size ultra-thin flexible battery string placement station, the front of grasping pressurization frock working surface and battery strings until negative pressure fits tightly, battery strings in the frock clamp grasps negative pressure through-hole that sucker grasps the pressurization frock by negative pressure with the environment that is evacuated in the frock body, realizes the negative pressure of battery strings is grasped;
Step 5, robot control frock clamp turns over turnback, makes the battery strings back side upwards, and control frock clamp mobile battery string arrival gluing station, at the battery strings backsizing;
Step 6 after gluing is finished, is controlled frock clamp mobile battery string to position to be mounted by robot, and the control frock clamp turns over turnback, make the battery strings back side downward, mobile then frock clamp slowly moves down, and fits fully until battery strings and solar cell for space use substrate;
Step 7, the battery strings of frock clamp grasps vacuum cup and frock grasps the release of vacuum cup negative pressure, and mechanical interlocking mechanism unclamps, and robot drives frock clamp and removes, negative pressure grasps the pressurization frock by self gravitation boosting battery string, finishes through the whole process of mounting behind the setting-up time.
Described gluing adopts screen printing gluing method, can once finish the gluing of whole string battery strings, and the shape of blob of viscose can design arbitrarily as required.
Described gluing, its blob of viscose of painting is the rectangular shape that four cornicults go out, with the excessive glue problem of effective solution.
The present invention is the relation between pressure and the diffusion shape during according to the diffusion of glue between two flat boards, makes full use of the advantage that the half tone gluing can accurately be controlled bondline thickness and gluing zone, controlling well under the situation of relevant parameter, can effectively solve the glue problem of overflowing.Robot adopts enough slow speed to extrude the air in the glue when driving the frock clamp pressurization, has effectively avoided mounting the existence of back bubble.In the cure under pressure process, negative pressure extracting pressurization frock is adsorbed all the time or is compressed battery strings, has eliminated battery strings because there is the distortion that may cause in structural stress own.
The present invention adopts screen printing technology at the solar battery string surface coating, grasp the extracting and the location of the cloth attaching mechanism realization large-size ultra-thin flexible battery string of pressurization frock and frock clamp composition with negative pressure, mount and grasp the pressurization frock by negative pressure after finishing battery strings is pressurizeed, this moment the cloth attaching mechanism can Parallel Implementation to the extracting and the gluing operation in another crosstalk pond.
Compared with prior art, the present invention has following beneficial effect: the present invention has the kinematic accuracy height, and the advantage that half tone gluing method glue-line can accurately be controlled can effectively solve excessive glue, distortion and air bubble problem.The more important thing is that the present invention has replaced the manual attachment process that ultrathin flexible battery strings on the sun substrate of space falls behind, can on raising mounts the basis of quality, increase substantially and mount efficient, improve working strength of workers.The present invention also can be applied in the middle of other the flexible attachment process.
Description of drawings
Fig. 1 is a large-size ultra-thin flexible space solar cell string structure in the embodiments of the invention;
Fig. 2 is the structural representation that negative pressure grasps the pressurization frock among the present invention;
Fig. 3 is the fundamental diagram that negative pressure grasps pressurization frock absorption battery strings among the present invention;
Fig. 4 is the structural representation of frock clamp among the present invention;
Fig. 5 is the sectional view of frock clamp among the present invention;
Fig. 6 is that frock clamp grasps the schematic diagram that negative pressure grasps the pressurization frock among the present invention;
Fig. 7 is the schematic diagram that negative pressure grasps pressurization frock absorption battery among the present invention;
Fig. 8 is the schematic diagram that the gluing station carries out the battery strings surface coating among the present invention;
Fig. 9 is a solar battery string gluing shape among the present invention;
Figure 10 is that negative pressure grasps the pressurization frock to the battery strings schematic diagram that pressurizes among the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed execution mode and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the applied large-size ultra-thin flexible battery of present embodiment string 3 is formed through welding processing by tens of battery sheets and interconnected, and the size of battery sheet and the battery sheet distance between is mutually fixed.
The negative pressure that present embodiment is selected for use grasps pressurization frock 2 and comprises: frock body 4, flexible rubber pad 5, negative pressure through-hole 6, array of orifices, two mechanical interlocking bayonet sockets 7, frock body 4 inside are cavity, the upper center of frock body 4 is provided with a negative pressure through-hole 6, can be by negative pressure through-hole 6 with the environment that is evacuated in the frock body 4, the lower surface of frock body 4 is a working face, which is provided with array of orifices, be used to adsorb battery strings 3, the flexible rubber pad 5 that is processed with identical array of orifices sticks on the frock working surface, can protect battery strings, two mechanical interlocking bayonet sockets 7 are arranged on the two ends of frock body 4, as Fig. 2, shown in Figure 3;
The frock clamp 1 that present embodiment is selected for use comprises: clamp body 10, battery strings grasps vacuum cup 8, frock grasps vacuum cup 9, two mechanical interlocking mechanism rods 11, connecting rod guide post 12, connecting rod drives cylinder 13, mechanical interlocking claw 14, wherein: frock grasps 9 per two one group of vacuum cup, be installed in clamp body 10 lower surfaces, be used to grasp negative pressure and grasp pressurization frock 2, two frocks are provided with a battery strings extracting vacuum cup 8 in the middle of grasping vacuum cup 9, when the negative pressure that grasps frock clamp 1 grasps pressurization frock 2, negative pressure through-hole 6 is corresponding with battery strings extracting vacuum cup 8 positions, mechanical interlocking bayonet socket 7 relative positions that grasp pressurization frock 2 with each negative pressure are provided with two pairs of mechanical interlocking claws 14, connecting rod guide post 12 is fixed on the clamp body 10, two mechanical interlocking mechanism rods 11 are socketed on the connecting rod guide post 12, mechanical interlocking claw 14 is fixed on the mechanical interlocking mechanism rod 11, two mechanical interlocking mechanism rods 11 link to each other with connecting rod actuating cylinder 13 respectively, two mechanical interlocking mechanism rods 11 are realized opening and closing movement at connecting rod actuating cylinder 13 control lower edge connecting rod guide posts 12, as Fig. 4, shown in 5.
Present embodiment comprises the steps:
Step 1 is put into the placement station to battery strings, the facing up of battery strings;
Step 2, frock in the frock clamp 1 grasps the upper surface that vacuum cup 9 absorption negative pressure grasp pressurization frock 2, mechanical interlocking catching 14 in the frock clamp 1 negative pressure that links closely grasps the mechanical interlocking bayonet socket 7 of pressurization frock 2, simultaneously, battery strings grasps vacuum cup 8 and links to each other with the negative pressure through-hole 6 that negative pressure grasps pressurization frock 2, as shown in Figure 6;
Step 3, frock clamp 1 turns over turnback, and it is downward to make negative pressure grasp pressurization frock 2 working surfaces;
Step 4, drive negative pressure extracting pressurization frock 2 by robot control frock clamp 1 and move to large-size ultra-thin flexible battery string placement station, the front of grasping pressurization frock 2 working surfaces and battery strings 3 until negative pressure fits tightly, battery strings in the frock clamp 1 grasps vacuum cup 8 and grasps the negative pressure through-hole 6 of pressurization frock 2 with the environment that is evacuated in the frock body 4 by negative pressure, realization is grasped the negative pressure of battery strings 3, as shown in Figure 7;
Step 5, robot control frock clamp 1 turns over turnback, makes the large-size ultra-thin flexible battery string back side upwards, and control frock clamp 1 mobile battery string arrives web plate gluing station, at the battery strings backsizing, as shown in Figure 8, realize the gluing operation by scraper 16, web plate 15 among the figure;
Described gluing, its blob of viscose of painting 17 is the rectangular shape that four cornicults go out, with the excessive glue problem of effective solution, as shown in Figure 9.
Step 6 after gluing is finished, is controlled frock clamp 1 mobile battery string to position to be mounted by robot, and control frock clamp 1 turns over turnback, make the battery strings back side downward, mobile then frock clamp 1 slowly moves down, and fits fully until battery strings 3 and solar cell for space use substrate 18;
Step 7, the battery strings of frock clamp 1 grasps vacuum cup 8 and frock grasps the release of vacuum cup 9 negative pressure, mechanical interlocking mechanism unclamps, robot drives frock clamp 1 and removes, negative pressure grasps pressurization frock 2 by self gravitation boosting battery string 3 (as shown in figure 10), finishes through the whole process of mounting behind the setting-up time.
Present embodiment kinematic accuracy height, the advantage that half tone gluing method glue-line can accurately be controlled can effectively solve excessive glue, distortion and air bubble problem.The more important thing is that present embodiment has replaced the manual attachment process that ultrathin flexible battery strings on the sun substrate of space falls behind, can on raising mounts the basis of quality, increase substantially and mount efficient, improve working strength of workers.

Claims (3)

1、一种空间太阳电池基板表面贴装电池串的方法，其特征在于，包括如下具体步骤：1. A method for mounting battery strings on the surface of a space solar cell substrate, characterized in that it comprises the following specific steps: 步骤一，把电池串放入放置工位，电池串的正面向上；Step 1, put the battery string into the placement station, with the front side of the battery string facing up; 步骤二，工装夹具中的工装抓取吸盘吸附负压抓取加压工装的上表面，工装夹具中的机械锁紧卡抓紧扣住负压抓取加压工装的机械锁紧卡口，同时，电池串抓取真空吸盘与负压抓取加压工装的负压通孔相连；Step 2, the tooling grab suction cup in the tooling fixture absorbs the upper surface of the negative pressure grabbing pressurized tooling, the mechanical locking clip in the tooling fixture grasps the mechanical locking bayonet of the negative pressure grabbing pressurized tooling, and at the same time, The battery string grabbing vacuum suction cup is connected to the negative pressure through hole of the negative pressure grabbing and pressurizing tooling; 步骤三，工装夹具翻转180度，使负压抓取加压工装工作表面向下；Step 3, the tooling fixture is turned 180 degrees, so that the negative pressure grabs the working surface of the pressurized tooling downward; 步骤四，通过机器人控制工装夹具带动负压抓取加压工装移动到大尺寸超薄柔性电池串放置工位，直至负压抓取加压工装工作表面和电池串的正面紧密贴合，工装夹具中的电池串抓取吸盘通过负压抓取加压工装的负压通孔将工装体内抽成真空环境，实现对电池串的负压抓取；Step 4. The robot controls the tooling fixture to drive the negative pressure grabbing and pressurizing tooling to move to the large-size ultra-thin flexible battery string placement station until the working surface of the negative pressure grabbing and pressurizing tooling is closely attached to the front of the battery string, and the tooling fixture The battery string grabbing suction cup in the tool draws the inside of the tooling into a vacuum environment through the negative pressure through hole of the negative pressure grabbing and pressurizing tooling, so as to realize the negative pressure grabbing of the battery strings; 步骤五，机器人控制工装夹具翻转180度，使大尺寸超薄柔性电池串背面向上，并控制工装夹具移动电池串到达涂胶工位，在电池串背面涂胶；Step 5, the robot controls the tooling fixture to turn over 180 degrees, so that the back of the large-sized ultra-thin flexible battery string faces upward, and controls the tooling fixture to move the battery string to the gluing station, and apply glue to the back of the battery string; 步骤六，涂胶完成之后，由机器人控制工装夹具移动电池串到待贴装位置，并控制工装夹具翻转180度，使电池串背面向下，然后移动工装夹具缓慢下移，直至电池串和空间太阳电池基板完全贴合；Step 6: After the gluing is completed, the robot controls the jig to move the battery string to the position to be mounted, and controls the jig to flip 180 degrees so that the back of the battery string is facing down, and then moves the jig down slowly until the battery string and the space The solar cell substrate is fully bonded; 步骤七，工装夹具的电池串抓取真空吸盘和工装抓取真空吸盘负压释放，机械锁紧机构松开，机器人带动工装夹具移开，负压抓取加压工装通过自身重力加压电池串，经过设定时间后整个贴装过程完成。Step 7, the battery string of the tooling fixture grabs the vacuum suction cup and the tooling grabs the vacuum sucker to release the negative pressure, the mechanical locking mechanism is released, the robot drives the tooling fixture to move away, and the negative pressure grabbing pressurizes the battery string through its own gravity , the entire mounting process is completed after the set time. 2、根据权利要求1所述的空间太阳电池基板表面贴装电池串的方法，其特征是，所述涂胶，采用网板印刷涂胶法，实现一次完成整串电池串的涂胶，而且胶块的形状可根据需要进行设计。2. The method for mounting battery strings on the surface of a space solar cell substrate according to claim 1, characterized in that the gluing adopts the screen printing gluing method to realize the gluing of the entire battery string at one time, and The shape of the rubber block can be designed according to needs. 3、根据权利要求2所述的空间太阳电池基板表面贴装电池串的方法，其特征是，所述涂胶，其涂成的胶块为四角突出的长方形形状，以解决溢胶问题。3. The method for mounting battery strings on the surface of a space solar cell substrate according to claim 2, characterized in that, in the said glue application, the glue block formed by the glue application is in the shape of a rectangle with protruding four corners, so as to solve the problem of glue overflow.
CN200810207778A 2008-12-25 2008-12-25 Method for mounting cell strings on surface of space solar cell substrate Expired - Fee Related CN100593864C (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102442789A (en) * 2010-10-15 2012-05-09 洛阳兰迪玻璃机器股份有限公司 Laying method and laying system of middle support of composite energy-saving glass
EP3159945A2 (en) * 2015-10-19 2017-04-26 SolAero Technologies Corp. Assembly and mounting of solar cells on space vehicles or satellites
CN110600420A (en) * 2019-10-16 2019-12-20 苏州德睿联自动化科技有限公司 Solar cell string transfer mechanism and method
CN113664400A (en) * 2021-06-23 2021-11-19 广东埃华路机器人工程有限公司 Automatic welding and pasting production equipment for satellite solar wing battery array

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102442789A (en) * 2010-10-15 2012-05-09 洛阳兰迪玻璃机器股份有限公司 Laying method and laying system of middle support of composite energy-saving glass
CN102442789B (en) * 2010-10-15 2014-04-23 洛阳兰迪玻璃机器股份有限公司 Laying method and laying system of middle support of composite energy-saving glass
EP3159945A2 (en) * 2015-10-19 2017-04-26 SolAero Technologies Corp. Assembly and mounting of solar cells on space vehicles or satellites
CN110600420A (en) * 2019-10-16 2019-12-20 苏州德睿联自动化科技有限公司 Solar cell string transfer mechanism and method
CN113664400A (en) * 2021-06-23 2021-11-19 广东埃华路机器人工程有限公司 Automatic welding and pasting production equipment for satellite solar wing battery array
CN113664400B (en) * 2021-06-23 2022-10-11 广东埃华路机器人工程有限公司 Satellite solar wing battery array automatic welding patch production equipment

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