CN109244001A - A kind of cell piece handling device and method for imbrication component stitch welding machine - Google Patents
A kind of cell piece handling device and method for imbrication component stitch welding machine Download PDFInfo
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- CN109244001A CN109244001A CN201810797654.XA CN201810797654A CN109244001A CN 109244001 A CN109244001 A CN 109244001A CN 201810797654 A CN201810797654 A CN 201810797654A CN 109244001 A CN109244001 A CN 109244001A
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- 238000003466 welding Methods 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005520 cutting process Methods 0.000 claims abstract description 120
- 238000007689 inspection Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims description 20
- 238000012937 correction Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000010438 heat treatment Methods 0.000 claims description 5
- 241000252254 Catostomidae Species 0.000 claims description 3
- 241000599742 Cacopsylla fulguralis Species 0.000 claims description 2
- 229910021421 monocrystalline silicon Inorganic materials 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract 1
- 239000000543 intermediate Substances 0.000 description 33
- 238000010586 diagram Methods 0.000 description 4
- 230000011218 segmentation Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000013082 photovoltaic technology Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
- H01L31/18—Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof
- H01L31/1804—Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof comprising only elements of Group IV of the Periodic Table
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67271—Sorting devices
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/6776—Continuous loading and unloading into and out of a processing chamber, e.g. transporting belts within processing chambers
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/547—Monocrystalline silicon PV cells
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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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
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- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
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Abstract
The present invention relates to photovoltaic apparatus technologies, it is desirable to provide a kind of cell piece handling device and method for imbrication component stitch welding machine.Cell piece handling device of this kind for imbrication component stitch welding machine includes charging belt, vision inspection apparatus, blanking device and garbage collection box；Charging belt is used to carry out feeding to the cutting sheet after the cutting of completed cell piece；The front end of charging belt is provided with contour detecting and takes pictures position, contour detecting position of taking pictures is provided with vision inspection apparatus, vision inspection apparatus is used to carry out appearance profile detection to cutting sheet；The end of charging belt is provided with garbage collection box, for collecting the unqualified cutting sheet of operation charging belt end；Blanking device includes manipulator, positioning vision system and blanking belt, for cutting sheet to be transported to follow up device.The present invention can distinguish existing edge piece after Monocrystalline silicon cell piece sliver and intermediate, while while carrying saves the number of manipulator operation, improves handling efficiency.
Description
Technical field
The present invention relates to photovoltaic apparatus technical field, in particular to a kind of cell piece for imbrication component stitch welding machine is removed
Shipping unit and method.
Background technique
With the development of photovoltaic technology, in order to improve component efficiency, the packing forms of stacked wafer moudle are developed, it is folded in production
In piece component process, need cell piece cutting splitting into small cell piece cutting sheet, it then will be after sliver using string welding machine
Cell piece cutting sheet is welded into battery strings.
After the stacked wafer moudle of mainstream is the six equal part sliver of cell piece by 156 × 156mm currently on the market, 1/6th
Cutting sheet overlapping is welded into battery strings, then is encapsulated by several battery strings.When cell piece is single-chip, since cell piece is deposited
In chamfering, two cutting sheets at edge edge piece different and above-mentioned from four intermediate cutting sheet shapes is than intermediate light
Area is small, and power is lower；Edge piece and intermediate are welded into battery strings together not only influences power, but also influences beautiful.
It is therefore proposed that a kind of can will be respectively welded bunchiness after edge piece and intermediate differentiation, while not influencing to carry ring again
The cell piece for saving efficiency carries scheme, and market prospects are good.
Summary of the invention
It is a primary object of the present invention to overcome deficiency in the prior art, providing one kind is not influencing to carry Link Efficiency
While, distinguish the cell piece handling device and method of different cell piece cutting sheets.In order to solve the above technical problems, of the invention
Solution be:
A kind of cell piece handling device for imbrication component stitch welding machine is provided, including charging belt, vision inspection apparatus,
Blanking device and garbage collection box；
The charging belt can from left to right be run, for carrying out feeding to the cutting sheet after the cutting of completed cell piece；On
The front end of material belt is provided with contour detecting and takes pictures position, and contour detecting position of taking pictures is provided with vision inspection apparatus；Vision inspection
Surveying device includes camera and image recognition program module, camera be used for each cutting sheet of feeding contour detecting take pictures position into
Row image taking, image recognition program module can carry out appearance profile detection, detection to cutting sheet using the image that camera is shot
Whether cutting sheet is qualified, and cutting sheet is distinguished edge piece and intermediate, then the location information of qualified cutting sheet is passed respectively
Manipulator is passed, and the location information of edge piece all only passes to a wherein manipulator, the location information of intermediate passes
Pass remaining manipulator；The end of charging belt is provided with garbage collection box, for collecting operation charging belt end not
Qualified cutting sheet；
The blanking device includes manipulator, positioning vision system and blanking belt (that is, welding feeding belt)；
The free terminal of manipulator is provided at least one set of sucker grasping mechanism, and every group of sucker grasping mechanism can grab a cutting sheet；
Blanking belt is arranged vertically with charging belt, and the centre of charging belt and blanking belt is provided with position of taking pictures, in position of taking pictures
It is provided with the positioning vision system shot from the bottom up, when Manipulator Transportation cutting sheet passes through from position of taking pictures, positions vision system
System can position the cutting sheet grabbed on manipulator and (is accurately positioned according to the characteristic point on its surface), and by cutting sheet
Location information relative to manipulator passes to manipulator；Blanking belt is equipped with a film releasing position, and manipulator is from charging belt
The film releasing position of blanking belt can be placed into after crawl cutting sheet, blanking belt is for the cutting sheet for being placed on film releasing position to be transported to
Follow up device (cutting sheet passes through blanking belt respectively and send to heating device welding bunchiness)；
For blanking device at least provided with two, one of blanking device only takes edge piece, and remaining blanking device is used to remove
Transport intermediate；Each blanking device is provided at least two and takes piece position, and each manipulator takes the crawl of piece position to cut from corresponding respectively
Pitch cutting.
In the present invention, the charging belt is realized using the conllinear belt of a belt or at least two.
In the present invention, the charging belt is transparent or semitransparent flat belt, is provided with below charging belt
The top of charging belt is arranged in the camera of light source, vision inspection apparatus.
In the present invention, the camera of the vision inspection apparatus, using the industrial CCD camera of 10,000,000 pixels.
In the present invention, there are three the blanking device is set, i.e., carrying cutting sheet is carried out using three manipulators, wherein side
The location information of embolium is all provided only to a wherein manipulator, which only takes edge piece, the location information of intermediate
Other two manipulators are averagely supplied to, this two manipulators are used to carry intermediate；The free terminal of each manipulator is set
Two groups of sucker grasping mechanisms are equipped with, each manipulator is enable to grab two panels cutting sheet simultaneously.
In the present invention, eight or more equally distributed suckers, and sucker height are provided on the sucker grasping mechanism
It, can be smooth to the cutting sheet correction of warpage while drawing cutting sheet in same level.
In the present invention, the manipulator selects four axis robots, can be right by the location information of cutting sheet when carrying
Cutting sheet carries out position correction.
A kind of cell piece method for carrying for imbrication component stitch welding machine is provided, specifically include the following steps:
(1) after completed cell piece sliver is at cutting sheet, with charging belt, uniform motion carries out feeding from left to right；
(2) cutting sheet from left to right first runs to contour detecting and takes pictures position, and vision inspection apparatus carries out appearance to cutting sheet
Contour detecting and just positioning；
Appearance profile detection is that whether detection cutting sheet is qualified, and cutting sheet is distinguished edge piece and intermediate；
Just positioning is the location information of qualified cutting sheet to be delivered separately to manipulator, and the location information of edge piece is whole
A wherein manipulator is only passed to, if the manipulator is marginal mechanical hand, the location information of intermediate passes to remaining
Manipulator, if the manipulator is intermediate mechanical hand；
(3) belt speed of marginal mechanical hand is transmitted according to vision inspection apparatus location information and charging belt calculates
To the real-time coordinates of edge piece, when edge piece moves to marginal mechanical hand is corresponding to take piece position when, edge piece is grabbed；It grabs
Take back edge manipulator with edge piece by position top of taking pictures, positioning vision system positions edge piece；Marginal mechanical
Hand carries out position correction to edge piece and is placed into the film releasing position of blanking belt according to the coordinate information of positioning vision system transmitting
Place drives sucker grasping mechanism to be back to and takes piece position, to complete one of marginal mechanical hand after the completion film releasing of marginal mechanical hand
Period；
(4) belt speed of intermediate mechanical hand is transmitted according to vision inspection apparatus location information and charging belt calculates
To the real-time coordinates of intermediate, when intermediate moves to intermediate mechanical hand is corresponding to take piece position when, intermediate is grabbed；It grabs
Take rear intermediate mechanical hand strap intermediate by taking pictures above position, positioning vision system positions intermediate；Intermediate mechanical
Hand carries out position correction to intermediate and is placed into the film releasing position of blanking belt according to the coordinate information of positioning vision system transmitting
Place drives sucker grasping mechanism to be back to and takes piece position, to complete one of intermediate mechanical hand after the completion film releasing of intermediate mechanical hand
Period；
(5) co-ordination for passing through marginal mechanical hand and intermediate mechanical hand, edge piece and intermediate are distinguished, then distinguished
It is sent by blanking belt to heating device and welds bunchiness.
In the present invention, when manipulator grabs cutting sheet, manipulator and charging belt are servo-actuated, i.e. sucker grasping mechanism water
Square keep opposing stationary to position and cutting sheet horizontal position on charging belt.
Compared with prior art, the beneficial effects of the present invention are:
The present invention can distinguish existing edge piece after Monocrystalline silicon cell piece sliver and intermediate, while while carrying saves
The number of manipulator operation, improves handling efficiency.
Detailed description of the invention
Fig. 1 is the schematic diagram in embodiment before Monocrystalline silicon cell piece segmentation.
Fig. 2 is the schematic diagram in embodiment after Monocrystalline silicon cell piece segmentation.
Fig. 3 is the schematic diagram in embodiment for the cell piece handling device of imbrication component stitch welding machine.
Appended drawing reference in figure are as follows: 1 charging belt；10 contour detectings are taken pictures position；11 manipulator A take piece position；12 manipulator A
Film releasing position；13 manipulator B take piece position；14 manipulator B film releasing positions；15 manipulator C take piece position；16 manipulator C film releasing positions；21 is mechanical
Hand A；22 manipulator B；23 manipulator C；31 manipulator A take pictures position；32 manipulator B take pictures position；33 manipulator C take pictures position；Under 41
Expect belt A；42 blanking belt B；43 blanking belt C；5 garbage collection boxes.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
It is used for the cell piece handling device of imbrication component stitch welding machine as shown in Figure 3, including the feeding skin from left to right run
Band 1, a vision inspection apparatus, manipulator A 21, manipulator B 22, manipulator C 23 for carrying movement, three positioning
Vision system, blanking belt A 41, blanking belt B 42, blanking belt C 43 and garbage collection box 5.Using a belt
Or three conllinear belts carry out feeding, and three manipulators are arranged and take piece respectively from charging belt 1, pass through vision inspection apparatus
It after positioning, and carries be placed on three parallel blanking belts respectively, position correction is carried out to cutting sheet while carrying, protect
Demonstrate,prove the predeterminated position that each cutting sheet is accurately placed into blanking belt.
The charging belt 1 can from left to right be run, for carrying out feeding to the cutting sheet after the cutting of completed cell piece；Work
Charging belt 1 is remained a constant speed operation during work with pre-set velocity, and since there is no acceleration and deceleration, cell piece will not occur with belt
Relative displacement can calculate cell piece in subsequent any time according to belt speed and the location information of front-end vision detection device
Position.
Charging belt 1 is transparent or semitransparent flat belt, and the lower section of charging belt 1 is provided with light source, charging belt 1
Front end be provided with contour detecting and take pictures position 10, vision inspection apparatus is by the 10000000 pixel industrial CCD phases purchased on the market
Machine cooperates the image recognition program (i.e. image recognition program module) of independent research to constitute.The camera setting of vision inspection apparatus exists
The top of charging belt 1 is backlight condition when vision inspection apparatus detects, improves the accuracy and speed of contour detecting, together
When reduce requirement to light-source brightness.Vision inspection apparatus carries out appearance profile detection, detection to each cutting sheet of feeding
Whether cutting sheet is qualified, and cutting sheet is distinguished edge piece and intermediate, then the location information of qualified cutting sheet is passed respectively
Manipulator is passed, and the location information of edge piece all only passes to a wherein manipulator, the location information of intermediate passes
Pass remaining manipulator.
The end of charging belt 1 is provided with garbage collection box 5, for collecting unqualified the cutting of operation 1 end of charging belt
Pitch cutting.When cutting sheet is after contour detecting, if cell piece is unqualified, vision inspection apparatus will not be by the position of the cutting sheet
Information passes to manipulator, which will run with charging belt 1 and send to garbage collection box 5, the method letter of the rejecting waste material
It is single efficient.
Manipulator selects four axis robots, can be carried out to cutting sheet accurate by the location information of cutting sheet when carrying
Position correct.The free terminal of manipulator is provided with two groups of sucker grasping mechanisms, and each manipulator is enable to grab two panels simultaneously
Cutting sheet, only needing manipulator to run one can improve back and forth simultaneously by two panels cutting sheet from taking piece position to be carried to film releasing position
The beat that cell piece is carried.Eight or more equally distributed suckers are provided on sucker grasping mechanism, and sucker height is same
On horizontal plane, when cell piece cutting sheet is drawn secured, exist originally warpage cell piece can be corrected it is smooth.Work as manipulator
When grabbing cutting sheet, manipulator and charging belt 1 are servo-actuated, i.e., on sucker grasping mechanism horizontal direction position and charging belt 1
Cutting sheet horizontal position keeps opposing stationary, guarantees that cutting sheet does not rub with belt when crawl, avoids causing to damage to belt
Wound
It carries out carrying battery cutting sheet using three manipulators, wherein the location information of edge piece is all provided only to wherein
One manipulator, the manipulator only take edge piece, and in addition two manipulators are used to carry intermediate, thus by edge piece and centre
Piece is distinguished.Since edge piece accounts for the one third of all cutting sheets, at this time three manipulators can with identical beat to cutting sheet into
Row is carried, and collaborative work does not influence efficiency.
Contour detecting setting takes piece position, every manipulator there are three corresponding with three manipulators on charging belt 1
A blanking belt is respectively configured, and three blanking belts are arranged vertically with charging belt 1.In charging belt 1 and blanking belt
Centre be provided with position of taking pictures, the positioning vision system shot from the bottom up is provided in position of taking pictures, when Manipulator Transportation cut
When piece passes through from position of taking pictures, positioning vision system can be accurately positioned the cutting sheet grabbed on manipulator, and cutting sheet is opposite
Manipulator is passed in the precise position information of manipulator.Certainly it as other optional mode, can will be accurately positioned
Camera setting on a robotic arm, when manipulator grab cutting sheet after accurate positioning of taking pictures is carried out to cutting sheet piece.It is grabbed in sucker
Take mechanism to hold and correct it is smooth after, recycle positioning vision system cutting sheet is accurately positioned, eliminate manipulator pair
The shaking and interference of the different warpage situation of different cutting sheets to vision positioning itself that battery cutting sheet occurs when grabbing, it is maximum
The positioning accuracy that ensure that battery cutting sheet in degree.
Every blanking belt is equipped with a film releasing position, and manipulator can be placed into down after grabbing cutting sheet from charging belt 1
Expect the film releasing position of belt, the cutting sheet for being placed on film releasing position is transported to heating device welding bunchiness by blanking belt.
The following examples can make the professional technician of this profession that the present invention be more fully understood, but not with any side
The formula limitation present invention.
It is as shown in Figure 1 and Figure 2 the schematic diagram of cell piece cutting division front and back, battery the cutting sheet P1 and P6 of two sides in Fig. 2
For edge piece, P2~P5 is intermediate.
After completed cell piece sliver, cutting sheet is arranged as shown in Figure 2 on charging belt 1, and with charging belt 1 from a left side
Uniform motion carries out feeding to the right.
Cutting sheet from left to right first runs to contour detecting and takes pictures position 10, and vision inspection apparatus carries out profile inspection to cutting sheet
It surveys and just positions, it is assumed that all cutting sheets are qualified piece, then vision inspection apparatus is respectively by cutting sheet P1's and cutting sheet P6
Location information passes to manipulator A21, and the location information of cutting sheet P5 and cutting sheet P3 are passed to manipulator B22, will be cut
The location information of piece P4 and cutting sheet P2 pass to manipulator C23.
Cutting sheet P1 and P6 is calculated in the location information and belt speed that manipulator A21 is transmitted according to vision inspection apparatus
Real-time coordinates, it is grabbed when cutting sheet P1 and P6 are moved to when manipulator A takes piece position 11, after crawl be arranged in machinery
The sucker grasping mechanism of 21 free terminal of hand first passes through manipulator A with battery cutting sheet P1 and P6 and takes pictures the top of position 31, positioning
Vision system is accurately positioned cutting sheet P1 and P6 respectively, and manipulator A21 believes according to the coordinate that positioning vision system transmits
Cease the manipulator A film releasing position 12 for first position correction being carried out to cutting sheet P1 and P6 respectively and being placed individually into blanking belt A 41
Place drives the return of sucker grasping mechanism to run to manipulator A and takes piece position 11, to complete machinery after manipulator A21 completion film releasing
The a cycle of hand A21.
Manipulator B22 and manipulator C23 respectively carries two intermediates, takes piece position and film releasing position and manipulator one
One is corresponding, and the period of motion is identical as the period of motion of manipulator A21, is no longer described in detail one by one.
By the co-ordination of three manipulators, edge piece and intermediate are distinguished, then sent respectively by blanking belt
Bunchiness is welded to heating device, while not influencing to carry the efficiency of link.
Finally it should be noted that the above enumerated are only specific embodiments of the present invention.It is clear that the invention is not restricted to
Above embodiments can also have many variations.Those skilled in the art can directly lead from present disclosure
Out or all deformations for associating, it is considered as protection scope of the present invention.
Claims (9)
1. a kind of cell piece handling device for imbrication component stitch welding machine, which is characterized in that including charging belt, vision-based detection
Device, blanking device and garbage collection box；
The charging belt can from left to right be run, for carrying out feeding to the cutting sheet after the cutting of completed cell piece；Feeding skin
The front end of band is provided with contour detecting and takes pictures position, and contour detecting position of taking pictures is provided with vision inspection apparatus；Vision-based detection dress
It sets including camera and image recognition program module, camera is used to carry out figure in contour detecting position of taking pictures to each cutting sheet of feeding
As shooting, image recognition program module can carry out appearance profile detection, detection cutting to cutting sheet using the image that camera is shot
Whether piece is qualified, and cutting sheet is distinguished edge piece and intermediate, then the location information of qualified cutting sheet is delivered separately to
Manipulator, and the location information of edge piece all only passes to a wherein manipulator, the location information of intermediate passes to
Remaining manipulator；The end of charging belt is provided with garbage collection box, for collecting the unqualified of operation charging belt end
Cutting sheet；
The blanking device includes manipulator, positioning vision system and blanking belt；The free terminal of manipulator is provided at least
One group of sucker grasping mechanism, every group of sucker grasping mechanism can grab a cutting sheet；Blanking belt is arranged vertically with charging belt,
And the centre of charging belt and blanking belt is provided with position of taking pictures, the positioning vision shot from the bottom up is provided in position of taking pictures
System, when Manipulator Transportation cutting sheet passes through from position of taking pictures, positioning vision system can to the cutting sheet grabbed on manipulator into
Row positioning, and the location information by cutting sheet relative to manipulator passes to manipulator；Blanking belt is equipped with a film releasing position,
Manipulator can be placed into the film releasing position of blanking belt after grabbing cutting sheet from charging belt, blanking belt will be for that will be placed on film releasing
The cutting sheet of position is transported to follow up device；
For blanking device at least provided with two, one of blanking device only takes edge piece, during remaining blanking device is used to carry
Between piece；Each blanking device is provided at least two and takes piece position, and each manipulator takes piece position to grab cutting sheet from corresponding respectively.
2. a kind of cell piece handling device for imbrication component stitch welding machine according to claim 1, which is characterized in that institute
Charging belt is stated to realize using the conllinear belt of a belt or at least two.
3. a kind of cell piece handling device for imbrication component stitch welding machine according to claim 1, which is characterized in that institute
Stating charging belt is transparent or semitransparent flat belt, and light source, the phase of vision inspection apparatus are provided with below charging belt
The top of charging belt is arranged in machine.
4. a kind of cell piece handling device for imbrication component stitch welding machine according to claim 1, which is characterized in that institute
The camera for stating vision inspection apparatus, using the industrial CCD camera of 10,000,000 pixels.
5. a kind of cell piece handling device for imbrication component stitch welding machine according to claim 1, which is characterized in that institute
It states there are three blanking device sets, i.e., carries out carrying cutting sheet using three manipulators, wherein the location information of edge piece is all only
It is supplied to a wherein manipulator, which only takes edge piece, and the location information of intermediate is averagely supplied to other two machines
Tool hand, this two manipulators are used to carry intermediate；The free terminal of each manipulator is both provided with two groups of sucker grasping mechanisms,
Each manipulator is set to grab two panels cutting sheet simultaneously.
6. a kind of cell piece handling device for imbrication component stitch welding machine according to claim 1, which is characterized in that institute
It states and is provided with eight or more equally distributed suckers on sucker grasping mechanism, and sucker height can inhale in same level
It is smooth to the cutting sheet correction of warpage while taking cutting sheet.
7. a kind of cell piece handling device for imbrication component stitch welding machine according to claim 1, which is characterized in that institute
It states manipulator and selects four axis robots, position correction can be carried out to cutting sheet by the location information of cutting sheet when carrying.
8. a kind of cell piece method for carrying for imbrication component stitch welding machine, which is characterized in that specifically include the following steps:
(1) after completed cell piece sliver is at cutting sheet, with charging belt, uniform motion carries out feeding from left to right；
(2) cutting sheet from left to right first runs to contour detecting and takes pictures position, and vision inspection apparatus carries out appearance profile to cutting sheet
Detection and just positioning；
Appearance profile detection is that whether detection cutting sheet is qualified, and cutting sheet is distinguished edge piece and intermediate；
Just positioning is the location information of qualified cutting sheet to be delivered separately to manipulator, and the location information of edge piece all only passes
A wherein manipulator is passed, if the manipulator is marginal mechanical hand, the location information of intermediate passes to remaining machinery
Hand, if the manipulator is intermediate mechanical hand；
(3) side is calculated in the belt speed of marginal mechanical hand is transmitted according to vision inspection apparatus location information and charging belt
The real-time coordinates of embolium, when edge piece moves to marginal mechanical hand is corresponding to take piece position when, edge piece is grabbed；After crawl
Marginal mechanical hand strap edge piece by taking pictures above position, positioning vision system positions edge piece；Marginal mechanical hand root
According to the coordinate information of positioning vision system transmitting, position correction is carried out to edge piece and is placed at the film releasing position of blanking belt,
It drives sucker grasping mechanism to be back to after the completion film releasing of marginal mechanical hand and takes piece position, to complete a week of marginal mechanical hand
Phase；
(4) during the belt speed of intermediate mechanical hand is transmitted according to vision inspection apparatus location information and charging belt is calculated
Between piece real-time coordinates, when intermediate moves to intermediate mechanical hand is corresponding to take piece position when, intermediate is grabbed；After crawl
Intermediate mechanical hand strap intermediate by taking pictures above position, positioning vision system positions intermediate；Intermediate mechanical hand root
According to the coordinate information of positioning vision system transmitting, position correction is carried out to intermediate and is placed at the film releasing position of blanking belt,
It drives sucker grasping mechanism to be back to after the completion film releasing of intermediate mechanical hand and takes piece position, to complete a week of intermediate mechanical hand
Phase；
(5) co-ordination for passing through marginal mechanical hand and intermediate mechanical hand, edge piece and intermediate are distinguished, then passed through respectively
Blanking belt send to heating device and welds bunchiness.
9. a kind of cell piece method for carrying for imbrication component stitch welding machine according to claim 8, which is characterized in that when
When manipulator grabs cutting sheet, manipulator and charging belt are servo-actuated, i.e. sucker grasping mechanism horizontal direction position and charging belt
On cutting sheet horizontal position keep it is opposing stationary.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797654.XA CN109244001B (en) | 2018-07-19 | 2018-07-19 | Battery piece carrying device and method for overlap-tile assembly stitch welding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810797654.XA CN109244001B (en) | 2018-07-19 | 2018-07-19 | Battery piece carrying device and method for overlap-tile assembly stitch welding machine |
Publications (2)
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| CN109742193A (en) * | 2019-02-26 | 2019-05-10 | 苏州辰正太阳能设备有限公司 | Silk-screen lamination machine equipment |
| CN109860338A (en) * | 2019-02-26 | 2019-06-07 | 苏州辰正太阳能设备有限公司 | Cell piece shunts method for carrying |
| CN109994407A (en) * | 2019-04-10 | 2019-07-09 | 苏州晟成光伏设备有限公司 | Battery strings sort buffer memory device and its working method |
| CN110212059A (en) * | 2019-07-15 | 2019-09-06 | 宁夏小牛自动化设备有限公司 | A kind of folded moving method and the mobile device of going here and there of solar battery string equipment |
| CN111070194A (en) * | 2019-12-23 | 2020-04-28 | 东莞市旭源智能自动化设备有限公司 | Mobile vision and mobile manipulator positioning device |
| CN112916405A (en) * | 2020-12-23 | 2021-06-08 | 中车长江车辆有限公司 | Automatic sorting device and sorting method for metal plate plasma cutting pieces |
| CN113066760A (en) * | 2021-03-19 | 2021-07-02 | 宁夏小牛自动化设备有限公司 | Scribing method and device for multi-cutting small battery pieces of whole battery piece |
| CN113247582A (en) * | 2021-07-01 | 2021-08-13 | 佛山市志必得机械设备有限公司 | Full-automatic feeding system of shaft-like product |
| CN115889205A (en) * | 2021-09-23 | 2023-04-04 | 环晟光伏(江苏)有限公司 | Method for identifying and selecting small laminated cell strips |
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| CN113066760A (en) * | 2021-03-19 | 2021-07-02 | 宁夏小牛自动化设备有限公司 | Scribing method and device for multi-cutting small battery pieces of whole battery piece |
| CN113247582A (en) * | 2021-07-01 | 2021-08-13 | 佛山市志必得机械设备有限公司 | Full-automatic feeding system of shaft-like product |
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| CN115889205A (en) * | 2021-09-23 | 2023-04-04 | 环晟光伏(江苏)有限公司 | Method for identifying and selecting small laminated cell strips |
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