CN107442961A - Satellite solar array automatic soldering method and device - Google Patents
Satellite solar array automatic soldering method and device Download PDFInfo
- Publication number
- CN107442961A CN107442961A CN201710771376.6A CN201710771376A CN107442961A CN 107442961 A CN107442961 A CN 107442961A CN 201710771376 A CN201710771376 A CN 201710771376A CN 107442961 A CN107442961 A CN 107442961A
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- Prior art keywords
- welding
- solar array
- satellite solar
- welding region
- welding machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/36—Electric or electronic devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Photovoltaic Devices (AREA)
Abstract
The embodiment of the present invention proposes a kind of satellite solar array automatic soldering method and device, is related to automatic welding technique field.This method and device then determine solder joint based on the welding region again first by determining the welding region of satellite solar array, are subjected to finally by the control multiple solder joints of welding machine to complete the automatic welding to satellite solar array；By carrying out automatic welding to a satellite solar array, the flow of artificial contraposition, artificial guiding and human weld is eliminated, the welding precision in welding process can not only be improved, moreover it is possible to reduce loss and the production time of raw material.
Description
Technical field
The present invention relates to automatic welding technique field, in particular to a kind of satellite solar array automatic welding
Method and device.
Background technology
Satellite solar array（Solar panel）It is by absorbing sunshine, solar radiant energy is imitated by photoelectricity
Should or photochemical effect be converted directly or indirectly into the device of electric energy.And the satellite solar array on satellite is normal with us
The cell panel of the solar power plant of rule is compared, all more excellent on thickness, weight and conversion ratio.
Satellite solar array on satellite generally includes conductive silver strip and diode, and conductive silver strip and diode
Welding is all traditional-handwork operation, and manual operations has solder skip, welding skew, welding is not because being influenceed by human factor
The various problems such as good, while the satellite solar array human weld of large area, due to position problems, difficulty is larger, welding position
Putting accuracy, welding pressure, electric current, voltage etc. can not all accurately hold, and cause the final product quality that finally obtains uneven.
The content of the invention
It is above-mentioned to solve it is an object of the invention to provide a kind of satellite solar array automatic soldering method and device
Problem.
To achieve these goals, the technical scheme that the embodiment of the present invention uses is as follows：
In a first aspect, the embodiments of the invention provide a kind of satellite solar array automatic soldering method, the satellite sun
Energy cell panel automatic soldering method includes：
Determine the welding region of satellite solar array；
Multiple solder joints are determined based on the welding region；
Control welding machine is subjected to multiple solder joints.
Second aspect, the embodiment of the present invention additionally provide a kind of automatic soldering device, and the automatic soldering device includes：
Welding region determining unit, for determining the welding region of satellite solar array；
Solder joint determining unit, for determining multiple solder joints based on the welding region；
Control unit, for controlling welding machine to be subjected to multiple solder joints.
Satellite solar array automatic soldering method and device provided by the invention, first by determining satellite sun energy
The welding region of cell panel, solder joint is then determined based on the welding region again, entered finally by the control multiple solder joints of welding machine
Row welding is operated to complete the automatic welding to satellite solar array；It is automatic by being carried out to a satellite solar array
Welding, the flow of artificial contraposition, artificial guiding and human weld is eliminated, the welding precision in welding process can not only be improved,
Loss and the production time of raw material can also be reduced.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows the circuit structure block diagram of robot welding system provided in an embodiment of the present invention.
Fig. 2 shows the flow chart for the satellite solar array automatic soldering method that first embodiment of the invention provides.
Fig. 3 shows the step S201 of first embodiment of the invention particular flow sheet.
Fig. 4 shows the step S202 of first embodiment of the invention particular flow sheet.
Fig. 5 shows the functional module for the satellite solar array automatic soldering device that second embodiment of the invention provides
Figure.
Fig. 6 shows the step S201 of third embodiment of the invention particular flow sheet.
Fig. 7 shows the step S202 of third embodiment of the invention particular flow sheet.
Icon：100- robot welding systems；101- memories；102- storage controls；103- processors；The figures of 104- first
As acquisition module；The image capture modules of 105- second；106- welding machines；107- alarm modules；200- satellite solar arrays are certainly
Dynamic welder；210- welding region determining units；220- solder joint determining units；230- control units；240- information receives single
Member；250- judging units；260- welding machine position adjustment units；270- alarm signal generation units.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
The embodiments of the invention provide a kind of robot welding system 100, in the case where manpower need not be used, completing
Automatic welding is carried out to satellite solar array.Referring to Fig. 1, the circuit for robot welding system 100 provided by the invention
Structured flowchart.Robot welding system 100 includes satellite solar array automatic soldering device 200, memory 101, storage control
Device 102 processed, one or more (one is only shown in figure）Processor 103, the first image capture module 104, the second IMAQ
Module 105, welding machine 106 and alarm module 107.
Processor 103 and storage control 102, the first image capture module 104, the second image capture module 105, welding machine
106 and alarm module 107 electrically connect, memory 101 electrically connects with storage control 102.The automatic soldering device includes
It is at least one can be with software or firmware（firmware）Form be stored in the memory 101 or be solidificated in the processor
SFU software functional unit in 103.
Memory 101 can be used for storage software program and unit, such as the automatic soldering device in the embodiment of the present invention and
Programmed instruction/unit corresponding to method, processor 103 are stored in software program and list in memory 101 by operation
Member, so as to perform various function application and data processing, such as satellite solar array provided in an embodiment of the present invention is automatic
Welding method.
Memory 101 may include high speed random access memory 101, may also include nonvolatile memory 101, such as one or
Multiple magnetic storage devices, flash memory or other non-volatile solid state memories 101.Processor 103 and other possible group
Access of the part to memory 101 can be carried out under the control of storage control 102.
First image capture module 104 is used to gathering the image information of satellite solar array, and by the satellite sun
The image information of energy cell panel is transmitted to processor 103, in order to which processor 103 is according to the image information identification satellite solar energy
The welding region of cell panel.
Second image capture module 105 is used for the high precision image information for gathering the welding region, and this is schemed in high precision
Picture information transfer is to processor 103, in order to which processor 103 determines solder joint according to the high precision image information.
First image capture module 104, the second image capture module 105 can be but be not limited only to camera, video camera
Etc. equipment.But it should be recognized that the acquisition precision of the second image capture module 105 should be greater than or equal to the first IMAQ mould
The acquisition precision of block 104.
Welding machine 106 is used for the butt welding point under the control of processor 103 and completes welding operation.
Alarm module 107 is used to respond the alarm signal and alarm, to remind staff to exist in welding process
Problem, it need to overhaul as early as possible.
First embodiment
The embodiments of the invention provide a kind of satellite solar array automatic soldering method, applied to robot welding system 100,
For in the case where manpower need not be used, completing to carry out automatic welding to satellite solar array.Referring to Fig. 2, it is this
The flow chart for the satellite solar array automatic soldering method that inventive embodiments provide.The satellite solar array automatic welding
The method of connecing includes：
Step S201：Determine the welding region of satellite solar array.
It is first to draw a circle to approve a larger region on satellite solar array to obtain welding region, and follow-up welding machine 106 needs
Some device in the region is subjected to.For example, work as the diode and conduction needed to satellite solar array
When silver strip is welded, the welding region should comprise at least diode and the complete image information of silver strip.
In the present embodiment, referring to Fig. 3, particular flow sheet for step S201.Step S201 includes：
Sub-step S2011：Receive the image information of satellite solar array.
It is to be appreciated that the image information of the welder is what the first image capture device was gathered and transmitted.
Sub-step S2012：Welding region is identified based on image information.
In a kind of preferred embodiment, the process for identifying welding region based on image information can be：By satellite too
The image information of positive energy cell panel carries out matching operation with position to be welded image set in advance, and what the match is successful can conduct
Welding region.Certainly, in other embodiments, the determination method of the welding region can also be other, not do specific limit herein
System.
Step S202：Multiple solder joints are determined based on welding region.
When solder joint is that welding machine 106 works, the position that is specifically subjected to.
In the present embodiment, referring to Fig. 4, particular flow sheet for step S202.Step S202 includes：
Sub-step S2021：Obtain the high precision image information of welding region.
It is to be appreciated that the high precision image information is what the second image capture device was gathered and transmitted.High precision image
The image information that information gathers relative to the first image capture device has higher resolution ratio, can more clearly from show weldering
The configuration state in region is connect, is easy to determine solder joint.
Sub-step S2022：Multiple solder joints are determined based on high precision image information.
In a kind of preferred embodiment, determining the method for solder joint can determine that the method for welding region is similar, herein not
Do concrete restriction.
In addition, in a kind of preferred embodiment, the number of the solder joint is 3.
Step S203：Welding machine 106 is judged whether in welding region, if it is not, then performing step S204；If it is,
Then perform step S205.
By judging welding machine 106 whether in welding region, in order to determine whether to be subjected to.
Step S204：Adjust the position of welding machine 106.
When welding machine 106 is not in welding region, by adjusting the position of welding machine 106, until it is in welding region
After, just continue next step.
Step S205：Receive the trip information of welding machine 106.
It should be noted that the trip information includes but are not limited to the voltage, electric current and welding machine of welding machine 106
Pressure value of 106 pairs of satellite solar arrays etc..
By the trip information of welding machine 106, the working condition of welding machine 106 can be obtained, for example whether short circuit be present
Deng the situation of infringement welding machine 106.
Step S206：Judge whether trip information meets preparatory condition, if it is, performing step S207；If
It is no, then perform step S208.
By judging whether trip information meets preparatory condition, can learn before welding machine 106 is subjected to,
Whether preparedness is in.
Step S207：Control welding machine 106 is subjected to multiple solder joints.
When welding machine 106 is located in welding region and the trip information of welding machine 106 meets preparatory condition, show to weld
Machine 106 is in preparedness, now can be to be directly subjected to multiple solder joints.
Step S208：Generate alarm signal.
When the trip information of welding machine 106 is unsatisfactory for preparatory condition, directly initiates welding machine 106 and be subjected to,
It is likely to damage satellite solar array, thus generates alarm signal, reminds staff to be adjusted relevant parameter.
Second embodiment
A kind of satellite solar array automatic soldering device 200 provided in an embodiment of the present invention, applied to robot welding system
100.It should be noted that the satellite solar array automatic soldering device 200 that the present embodiment is provided, its general principle and
Caused technique effect is identical with above-described embodiment, and to briefly describe, the present embodiment part does not refer to part, refers to above-mentioned
Corresponding contents in embodiment.Referring to Fig. 5, it is satellite solar array automatic soldering device provided in an embodiment of the present invention
200 functional block diagram.Automatic soldering device includes：Welding region determining unit 210, solder joint determining unit 220, control unit
230th, information receiving unit 240, judging unit 250, welding machine position adjustment unit 260 and alarm signal generation unit 270.
Welding region determining unit 210 is used for the welding region for determining satellite solar array.
Specifically, after image information of the welding region determining unit 210 for receiving welder, then based on image information
Identify welding region.
It is to be appreciated that welding region determining unit 210 can be used for performing step S201, sub-step S2011 and sub-step
S2012。
Solder joint determining unit 220 is used to determine multiple solder joints based on welding region.
Specifically, after high precision image information of the solder joint determining unit 220 for obtaining welding region, then based on high accuracy
Image information determines multiple solder joints.
It is to be appreciated that solder joint determining unit 220 can be used for performing step S202, sub-step S2021 and sub-step
S2022。
Whether judging unit 250 is used to judge welding machine 106 in welding region.
It is to be appreciated that judging unit 250 can be used for performing step S203.
Welding machine position adjustment unit 260 is used for the position for when welding machine 106 is not in welding region, adjusting welding machine 106.
It is to be appreciated that welding machine position adjustment unit 260 can be used for performing step S204.
Information receiving unit 240 is used for when welding machine 106 is located in welding region, receives the operational factor letter of welding machine 106
Breath.
It is to be appreciated that information receiving unit 240 can be used for performing step S205.
Judging unit 250 is additionally operable to judge whether trip information meets preparatory condition.
It is to be appreciated that judging unit 250 can be used for performing step S206.
Control unit 230 is used for when trip information meets preparatory condition, and control welding machine 106 is carried out to multiple solder joints
Welding operation.
It is to be appreciated that control unit 230 can be used for performing step S207.
Alarm signal generation unit 270 is used for when trip information is unsatisfactory for preparatory condition, generates alarm signal.
It is to be appreciated that alarm signal generation unit 270 can be used for performing step S208.
3rd embodiment
A kind of satellite solar array automatic soldering method provided in an embodiment of the present invention, applied to robot welding system 100.
It should be noted that the satellite solar array automatic soldering method that the present embodiment is provided, its general principle and caused
Technique effect is identical with above-described embodiment, and to briefly describe, the present embodiment part does not refer to part, refers to the above embodiments
Middle corresponding contents.It should be noted that the satellite solar array automatic soldering method that the present embodiment provides, only about welding
The determination process in region and the determination process of solder joint and above-described embodiment are different.
In the present embodiment, referring to Fig. 6, particular flow sheet for step S201.Step S201 includes：
Sub-step S6011：The positional information of the conductive silver strip of satellite solar array is determined according to presetting location model.
It is to be appreciated that determine that the positional information of welder refers to the accurate location for determining conductive silver strip.Only first really
Determine the accurate location of conductive silver strip, can just further determine that welding region.
Sub-step S6012：Welding region is determined based on positional information and presetting edge finding model.
Determine that welding region needs to determine conduction according to the positional information of conductive silver strip and presetting edge finding model
The welding initial edge of silver strip, and using the welding initial edge as welding region.
In the present embodiment, referring to Fig. 7, particular flow sheet for step S201.Step S201 includes：
Sub-step S7011：The center line of the diode of satellite solar array is determined based on presetting edge finding model.
It should be noted that the center line is located in the welding region.
Sub-step S7012：Plurality of parallel lines is determined based on welding region and presetting parallel-line model.
It should be noted that sides aligned parallel of the every parallel lines with welding region, and every parallel lines and welding region
Edge distance value it is different.
Sub-step S7013：Intersect the multiple intersection points obtained using plurality of parallel lines with center line as solder joint.
Fourth embodiment
A kind of satellite solar array automatic soldering device 200 provided in an embodiment of the present invention, applied to robot welding system
100.It should be noted that the satellite solar array automatic soldering device 200 that the present embodiment is provided, its general principle and
Caused technique effect is identical with above-described embodiment, and to briefly describe, the present embodiment part does not refer to part, refers to above-mentioned
Corresponding contents in embodiment.
Welding region determining unit 210 is used for the welding region for determining the conductive silver strip of satellite solar array.
In the present embodiment, welding region determining unit 210 is used to determine conductive silver strip according to presetting location model
Positional information after, then welding region determined based on positional information and presetting edge finding model.
It is to be appreciated that welding region determining unit 210 can be used for performing step S201, sub-step S6011 and sub-step
S6012。
Solder joint determining unit 220 is used to determine multiple solder joints based on welding region.
In the present embodiment, solder joint determining unit 220 determines satellite for being primarily based on presetting edge finding model
The center line of the diode of solar panel, plurality of parallel lines is determined based on welding region and presetting parallel-line model
Afterwards, then using plurality of parallel lines with center line the multiple intersection points obtained are intersected as solder joint.
It is to be appreciated that solder joint determining unit 220 can be used for performing step S202, sub-step S7011, sub-step S7012
And sub-step S7013.
Need what is be subjected to set it should be noted that method and device provided by the invention can also be others
It is standby.
In summary, satellite solar array automatic soldering method and device provided in an embodiment of the present invention are logical first
The welding region for determining satellite solar array is crossed, solder joint is then determined based on the welding region again, is welded finally by control
The multiple solder joints of machine are subjected to complete the automatic welding to satellite solar array；By to a satellite sun
Can cell panel carry out automatic welding, eliminate the flow of artificial contraposition, artificial guiding and human weld, can not only improve and weld
Welding precision in journey, moreover it is possible to reduce loss and the production time of raw material.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply and deposited between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Nonexcludability includes, so that process, method, article or equipment including a series of elements not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Other identical element also be present in process, method, article or equipment including the key element.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.It should be noted that：Similar label and letter exists
Similar terms is represented in following accompanying drawing, therefore, once being defined in a certain Xiang Yi accompanying drawing, is then not required in subsequent accompanying drawing
It is further defined and explained.
Claims (10)
- A kind of 1. satellite solar array automatic soldering method, it is characterised in that the satellite solar array automatic welding The method of connecing includes：Determine the welding region of satellite solar array；Multiple solder joints are determined based on the welding region；The welding machine is controlled to be subjected to multiple solder joints.
- 2. satellite solar array automatic soldering method according to claim 1, it is characterised in that the acquisition satellite The step of welding region of solar panel, includes：Receive the image information of the satellite solar array；The welding region is identified based on described image information.
- 3. satellite solar array automatic soldering method according to claim 2, it is characterised in that described based on described Welding region determines that the step of multiple solder joints includes：Obtain the high precision image information of the welding region；Multiple solder joints are determined based on the high precision image information.
- 4. satellite solar array automatic soldering method according to claim 1, it is characterised in that the acquisition satellite The step of welding region of solar panel, includes：The positional information of the conductive silver strip of the satellite solar array is determined according to presetting location model；Changed based on the positional information and presetting edge finding model and determine the welding region.
- 5. satellite solar array automatic soldering method according to claim 4, it is characterised in that described based on described Welding region determines that the step of multiple solder joints includes：The center line of the diode of the satellite solar array is determined based on the presetting edge finding model；Plurality of parallel lines is determined based on the welding region and presetting parallel-line model, every parallel lines with it is described The sides aligned parallel of welding region, and every parallel lines are different from the distance value at the edge of the welding region；Intersect the multiple intersection points obtained using a plurality of parallel lines with the center line as the solder joint.
- 6. the satellite solar array automatic soldering method according to any one in claim 1-5, it is characterised in that Before the step of control welding machine is subjected to multiple solder joints, the satellite solar array automatic welding Connecing method also includes：Receive the trip information of the welding machine；Judge whether the trip information meets preparatory condition；The step of control welding machine is subjected to multiple solder joints includes：When the trip information meets in advance If during condition, control welding machine is subjected to multiple solder joints.
- 7. satellite solar array automatic soldering method according to claim 6, it is characterised in that the satellite sun Energy cell panel automatic soldering method also includes：When the trip information is unsatisfactory for preparatory condition, alarm signal is generated.
- 8. the satellite solar array automatic soldering method according to any one in claim 1-5, it is characterised in that Before the step of control welding machine is subjected to multiple solder joints, the satellite solar array automatic welding Connecing method also includes：Judge the welding machine whether in the welding region；When the welding machine is not in the welding region, the position of the welding machine is adjusted；The step of control welding machine is subjected to multiple solder joints includes：When the welding machine is located at the weld zone When in domain, the welding machine is controlled to be subjected to multiple solder joints.
- 9. a kind of automatic soldering device, it is characterised in that the automatic soldering device includes：Welding region determining unit, for determining the welding region of satellite solar array；Solder joint determining unit, for determining multiple solder joints based on the welding region；Control unit, for when welding machine is located in the welding region, controlling the welding machine to weld multiple solder joints Connect operation.
- 10. automatic soldering device according to claim 9, it is characterised in that the automatic soldering device also includes：Information receiving unit, receive the trip information of the welding machine；Control unit, for when trip information meets preparatory condition, control welding machine to weld to multiple solder joints Operation.
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| CN201710771376.6A CN107442961A (en) | 2017-08-31 | 2017-08-31 | Satellite solar array automatic soldering method and device |
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| CN201710771376.6A CN107442961A (en) | 2017-08-31 | 2017-08-31 | Satellite solar array automatic soldering method and device |
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Application publication date: 20171208 |