CN109244001B - Battery piece carrying device and method for overlap-tile assembly stitch welding machine - Google Patents
Battery piece carrying device and method for overlap-tile assembly stitch welding machine Download PDFInfo
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- CN109244001B CN109244001B CN201810797654.XA CN201810797654A CN109244001B CN 109244001 B CN109244001 B CN 109244001B CN 201810797654 A CN201810797654 A CN 201810797654A CN 109244001 B CN109244001 B CN 109244001B
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- 238000003466 welding Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 49
- 230000000007 visual effect Effects 0.000 claims abstract description 29
- 238000007599 discharging Methods 0.000 claims abstract description 15
- 239000002699 waste material Substances 0.000 claims abstract description 10
- 230000007246 mechanism Effects 0.000 claims description 21
- 239000000463 material Substances 0.000 claims description 7
- 238000010438 heat treatment Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims description 3
- 238000011179 visual inspection Methods 0.000 claims description 2
- 229910021421 monocrystalline silicon Inorganic materials 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 241000446313 Lamella Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003475 lamination Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013082 photovoltaic technology Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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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 System
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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
Abstract
The invention relates to the photovoltaic equipment technology, and aims to provide a cell carrying device and a cell carrying method for a stitch welding machine of a laminated assembly. The battery piece carrying device for the overlap-tile assembly stitch welding machine comprises a feeding belt, a visual detection device, a discharging device and a waste collecting box; the feeding belt is used for feeding the cutting pieces after the complete battery pieces are cut; the front end of the feeding belt is provided with a contour detection photographing position, and the contour detection photographing position is provided with a visual detection device which is used for detecting the appearance contour of the cut piece; the tail end of the feeding belt is provided with a waste collecting box for collecting unqualified cutting pieces running at the tail end of the feeding belt; the blanking device comprises a mechanical arm, a positioning vision system and a blanking belt and is used for conveying the cutting pieces to a follow-up device. The invention can distinguish the edge pieces and the middle pieces existing after the monocrystalline silicon battery pieces are split, simultaneously saves the operation times of the mechanical arm during transportation and improves the transportation efficiency.
Description
Technical Field
The invention relates to the technical field of photovoltaic equipment, in particular to a cell carrying device and method for a stitch welding machine of a shingle assembly.
Background
With the development of photovoltaic technology, in order to improve the assembly efficiency, a packaging form of a laminated assembly is developed, and in the process of producing the laminated assembly, a battery piece needs to be cut and split into small battery piece cutting pieces, and then the cut battery piece cutting pieces after being split are welded into a battery string by using a string welding machine.
The mainstream lamination assembly in the market at present is formed by splitting a battery piece with the size of 156mm by 156mm into six equal parts, overlapping and welding one sixth cutting piece into a battery string, and packaging a plurality of battery strings. When the battery piece is a single chip, because the battery piece has a chamfer, the two cutting pieces at the edge have different shapes with the four cutting pieces in the middle, and the edge piece has smaller light receiving area and lower power than the middle piece; the welding of the edge pieces and the intermediate pieces together into a battery string affects both power and aesthetics.
Therefore, the battery piece conveying scheme is provided, the edge pieces and the middle pieces can be distinguished and then are respectively welded into strings, and meanwhile, the efficiency of a conveying link is not influenced, so that the market prospect is good.
Disclosure of Invention
The invention mainly aims to overcome the defects in the prior art and provide a battery piece conveying device and a method for distinguishing different battery piece cutting pieces without influencing the efficiency of a conveying link. In order to solve the technical problem, the solution of the invention is as follows:
the battery piece carrying device for the overlap-tile assembly overlap welding machine comprises a feeding belt, a visual detection device, a discharging device and a waste collecting box;
the feeding belt can run from left to right and is used for feeding the cut pieces of the complete battery pieces after being cut; the foremost end of the feeding belt is provided with a contour detection photographing position, and a visual detection device is arranged at the contour detection photographing position; the visual detection device comprises a camera and an image recognition program module, wherein the camera is used for carrying out image shooting on each cutting piece of the material loading at a contour detection shooting position, the image recognition program module can carry out appearance contour detection on the cutting pieces by utilizing the image shot by the camera, detect whether the cutting pieces are qualified or not, distinguish the cutting pieces into edge pieces and middle pieces, respectively transmit the position information of the qualified cutting pieces to the mechanical arms, transmit all the position information of the edge pieces to one of the mechanical arms, and transmit the position information of the middle pieces to the rest of the mechanical arms; the tail end of the feeding belt is provided with a waste collecting box for collecting unqualified cutting pieces running at the tail end of the feeding belt;
the blanking device comprises a manipulator, a positioning vision system and a blanking belt (namely equivalent to a welding feeding belt); the free terminal of the manipulator is provided with at least one group of sucking disc grabbing mechanisms, and each group of sucking disc grabbing mechanisms can grab one cutting piece; the cutting piece positioning device comprises a feeding belt, a discharging belt, a positioning vision system and a manipulator, wherein the feeding belt is arranged vertically to the discharging belt, a photographing position is arranged between the feeding belt and the discharging belt, the photographing position is provided with the positioning vision system for photographing from bottom to top, and when the manipulator carries a cutting piece to pass through the photographing position, the positioning vision system can position the cutting piece grabbed on the manipulator (accurately position according to characteristic points on the surface of the cutting piece) and transmit position information of the cutting piece relative to the manipulator; a slice placing position is arranged on the blanking belt, the cutting slices can be placed on the slice placing position of the blanking belt after being grabbed by the mechanical arm from the feeding belt, and the blanking belt is used for conveying the cutting slices placed at the slice placing position to a subsequent device (the cutting slices are respectively conveyed to a heating device through the blanking belt to be welded into a string);
the number of the blanking devices is at least two, wherein one blanking device only takes the edge pieces, and the rest blanking devices are used for carrying the middle pieces; every unloader is provided with two at least and gets the piece position, and every manipulator snatchs the cutting piece from the piece position of getting that corresponds respectively.
In the invention, the feeding belt is realized by adopting one belt or at least two collinear belts.
In the invention, the feeding belt is a transparent or semitransparent flat belt, a light source is arranged below the feeding belt, and a camera of the visual detection device is arranged above the feeding belt.
In the invention, the camera of the visual inspection device adopts an industrial CCD camera with 1000 ten thousand pixels.
In the invention, the three blanking devices are provided, namely three mechanical hands are adopted to carry the cutting pieces, wherein the position information of the edge pieces is completely provided for only one of the mechanical hands, the mechanical hand only takes the edge pieces, the position information of the middle piece is averagely provided for the other two mechanical hands, and the two mechanical hands are used for carrying the middle piece; the free terminal of every manipulator all is provided with two sets of sucking discs and snatchs the mechanism, makes every manipulator can snatch two cutting pieces simultaneously.
According to the cutting piece picking mechanism, more than eight sucking discs which are uniformly distributed are arranged on the sucking disc picking mechanism, and the sucking discs are arranged on the same horizontal plane in height, so that the warped cutting piece can be corrected and leveled while the cutting piece is sucked.
In the invention, the manipulator adopts a four-axis manipulator, and can correct the position of the cutting piece through the position information of the cutting piece during transportation.
The method for carrying the battery piece for the stack-tile assembly stitch welding machine comprises the following steps:
(1) after the complete battery piece is split into cutting pieces, the cutting pieces move at a constant speed from left to right along with the feeding belt to feed;
(2) the cutting piece moves to a contour detection photographing position from left to right, and a visual detection device performs appearance contour detection and initial positioning on the cutting piece;
the appearance contour detection is to detect whether the cutting piece is qualified or not and distinguish the cutting piece into an edge piece and a middle piece;
in the initial positioning, the position information of the qualified cutting pieces is respectively transmitted to the mechanical hands, the position information of the edge pieces is completely transmitted to only one of the mechanical hands, the mechanical hand is set as the edge mechanical hand, the position information of the middle piece is transmitted to the rest of the mechanical hands, and the mechanical hand is set as the middle mechanical hand;
(3) the edge manipulator calculates the real-time coordinate of the edge piece according to the position information transmitted by the visual detection device and the belt speed of the feeding belt, and the edge piece is grabbed when the edge piece moves to the piece fetching position corresponding to the edge manipulator; after the edge piece is grabbed, the edge piece is carried by the edge manipulator to pass through the upper part of the photographing position, and a positioning vision system is used for positioning the edge piece; the edge manipulator corrects the position of the edge sheet according to the coordinate information transmitted by the positioning vision system and places the edge sheet at a sheet placing position of the blanking belt, and drives the sucking disc grabbing mechanism to return to a sheet taking position after the sheet placing is completed, so that one period of the edge manipulator is completed;
(4) the middle manipulator calculates the real-time coordinate of the middle piece according to the position information transmitted by the visual detection device and the belt speed of the feeding belt, and the middle piece is grabbed when the middle piece moves to the piece fetching position corresponding to the middle manipulator; after grabbing, the middle manipulator takes the middle piece to pass through the upper part of the photographing position, and the positioning vision system positions the middle piece; the middle manipulator corrects the position of the middle sheet according to the coordinate information transmitted by the positioning vision system and places the middle sheet at the sheet placing position of the blanking belt, and drives the sucking disc grabbing mechanism to return to the sheet taking position after the middle manipulator finishes the sheet placing, so that one period of the middle manipulator is finished;
(5) the edge pieces and the middle pieces are distinguished through the coordinated work of the edge mechanical arm and the middle mechanical arm, and then are respectively conveyed to a heating device through a discharging belt to be welded into a string.
In the invention, when the manipulator grabs the cutting blade, the manipulator follows the feeding belt, namely the horizontal position of the sucking disc grabbing mechanism and the horizontal position of the cutting blade on the feeding belt keep relatively static.
Compared with the prior art, the invention has the beneficial effects that:
the invention can distinguish the edge pieces and the middle pieces existing after the monocrystalline silicon battery pieces are split, simultaneously saves the operation times of the mechanical arm during transportation and improves the transportation efficiency.
Drawings
FIG. 1 is a schematic view of a single-crystal silicon wafer before being divided in the embodiment.
FIG. 2 is a schematic diagram of a single-crystal silicon battery piece after being divided in the embodiment.
Fig. 3 is a schematic view of a cell handling apparatus for a stack assembly stitch welding machine in an embodiment.
The reference numbers in the figures are: 1, a feeding belt; 10, detecting a photographing position by the contour; 11, a manipulator A takes a film position; 12, a piece placing position of a manipulator A; 13, taking a piece position by a manipulator B; 14, placing a piece position by a manipulator B; 15, taking a wafer position by a manipulator C; a 16 manipulator C is arranged at a sheet placing position; 21, a manipulator A; 22 a manipulator B; 23, a manipulator C; 31 a photographing position of a manipulator A; 32 a photographing position of a manipulator B; 33, a photographing position of a manipulator C; 41 blanking belt A; 42 a blanking belt B; 43 a blanking belt C; 5 waste collecting box.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
the battery piece carrying device for the laminated assembly stitch welding machine comprises a feeding belt 1, a visual detection device, a manipulator A21, a manipulator B22 and a manipulator C23, three positioning visual systems, a discharging belt A41, a discharging belt B42, a discharging belt C43 and a waste collection box 5, wherein the feeding belt 1 runs from left to right, the three positioning visual systems are used for carrying actions. Adopt a belt or three collinear belts to carry out the material loading, set up three manipulators and get the piece respectively from material loading belt 1, through the vision detection device location back to on carrying the unloading belt of placing three parallels respectively, carry out the position to the cutting piece and correct when carrying, guarantee every cutting piece accurate place the preset position of unloading belt.
The feeding belt 1 can run from left to right and is used for feeding the cut pieces of the complete battery pieces after being cut; during the working process, the feeding belt 1 keeps running at a constant speed at a preset speed, and because acceleration and deceleration do not exist, the battery piece cannot be displaced relative to the belt, and the position of the battery piece at any subsequent time can be calculated according to the speed of the belt and the position information of the front-end visual detection device.
The feeding belt 1 is a transparent or semitransparent flat belt, a light source is arranged below the feeding belt 1, the foremost end of the feeding belt 1 is provided with a contour detection photographing position 10, and the visual detection device is composed of 1000 ten thousand pixels of industrial CCD cameras purchased from the market and matched with an independently developed image recognition program (namely an image recognition program module). The camera of the visual detection device is arranged above the feeding belt 1, and the visual detection device is under the backlight source condition during detection, so that the precision and the speed of contour detection are improved, and the requirement on the brightness of a light source is reduced. The visual detection device detects the appearance contour of each cutting piece of the feeding, detects whether the cutting piece is qualified or not, distinguishes the edge piece and the middle piece from the cutting piece, transmits the position information of the qualified cutting piece to the mechanical arm respectively, transmits the position information of the edge piece to one of the mechanical arms, and transmits the position information of the middle piece to the rest of the mechanical arms.
The tail end of the feeding belt 1 is provided with a waste collecting box 5 for collecting unqualified cutting pieces running at the tail end of the feeding belt 1. After the cutting piece is detected through the profile, if the battery piece is the piece that does not conform, visual detection device can not give the manipulator with the positional information transfer of this cutting piece, and this cutting piece will be sent to garbage collection box 5 along with the operation of material loading belt 1, and this method of rejecting the waste material is simple high-efficient.
Four-axis manipulator is selected for use to the manipulator, can carry out accurate position to the cutting piece through the positional information of cutting piece when the transport and correct. The free terminal of manipulator is provided with two sets of sucking discs and snatchs the mechanism, makes every manipulator can snatch two cutting pieces simultaneously, only needs the manipulator operation one to make a round trip alright carry two cutting pieces to putting the piece position from getting the piece position simultaneously, has promoted the beat of battery piece transport. The sucking disc snatchs and is provided with more than eight evenly distributed's sucking discs on the mechanism, and the sucking disc height is on same horizontal plane, and when the battery piece cutting piece was absorb firmly, there was warping battery piece originally and can be corrected smooth. When the manipulator snatchs the cutting piece, manipulator and material loading belt 1 follow-up, the sucking disc snatchs the cutting piece horizontal position on mechanism horizontal direction position and the material loading belt 1 promptly and keeps static relatively, and the cutting piece does not take place the friction with the belt when guaranteeing to snatch, avoids causing the damage to the belt
The battery cutting piece is carried by adopting three mechanical hands, wherein the position information of the edge piece is completely provided for one of the mechanical hands, the mechanical hand only takes the edge piece, and the other two mechanical hands are used for carrying the middle piece, so that the edge piece is distinguished from the middle piece. Because the edge piece accounts for one third of all the cutting pieces, the three mechanical arms can carry the cutting pieces at the same beat, and the efficiency is not influenced by the cooperative work.
Three sheet taking positions corresponding to three manipulators are arranged on the feeding belt 1 in a contour detection mode, each manipulator is respectively provided with one discharging belt, and the three discharging belts are perpendicular to the feeding belt 1. Be provided with the position of shooing in the centre of feeding belt 1 and unloading belt, be provided with the location vision system who up shoots from down in the position of shooing, when the manipulator transport cutting piece passes through from the position of shooing, location vision system can be to the cutting piece accurate positioning who snatchs on the manipulator to give the manipulator for the accurate position information transmission of manipulator with the cutting piece. As another alternative, the camera for performing accurate positioning may be disposed on the manipulator, and the camera may take a picture of the dicing sheet and perform accurate positioning after the manipulator picks up the dicing sheet. After the sucker grabbing mechanism grabs firmly and corrects and levels, the positioning vision system is used for accurately positioning the cutting blade, so that the interference of shaking and different warping conditions of different cutting blades to visual positioning when the manipulator grabs the battery cutting blade is eliminated, and the positioning precision of the battery cutting blade is guaranteed to the maximum extent.
Each blanking belt is provided with a piece placing position, the manipulator can place the piece placing position of the blanking belt after grabbing the cutting pieces from the feeding belt 1, and the blanking belt conveys the cutting pieces placed at the piece placing position to a heating device to be welded into a string.
The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the invention in any way.
As shown in fig. 1 and fig. 2, which are schematic diagrams before and after the cutting and splitting of the battery piece, the battery cutting pieces P1 and P6 on two sides in fig. 2 are edge pieces, and P2 to P5 are middle pieces.
After the complete battery pieces are split, the cutting pieces are arranged on the feeding belt 1 as shown in fig. 2 and are fed along with the feeding belt 1 in a uniform motion from left to right.
From left to right, the cutting blade runs to the contour detection photographing position 10 first, the visual detection device carries out contour detection and initial positioning on the cutting blade, and if all the cutting blades are qualified, the visual detection device transmits position information of the cutting blade P1 and the cutting blade P6 to the manipulator A21, transmits position information of the cutting blade P5 and the cutting blade P3 to the manipulator B22, and transmits position information of the cutting blade P4 and the cutting blade P2 to the manipulator C23.
The manipulator A21 calculates real-time coordinates of the cut pieces P1 and P6 according to the position information and the belt speed transmitted by the visual detection device, when the cut pieces P1 and P6 move to the piece taking position 11 of the manipulator A, the cut pieces P1 and P3983 are grabbed, a sucker grabbing mechanism arranged at the free end of the manipulator 21 carries the battery cut pieces P1 and P6 to pass through the position 31 of the manipulator A, the positioning vision system accurately positions the cut pieces P1 and P6 respectively, the manipulator A21 carries out position correction on the cut pieces P1 and P6 respectively according to the coordinate information transmitted by the positioning vision system and places the cut pieces P1 and P6 at the piece placing position 12 of the manipulator A on the blanking belt A41 respectively, and after the manipulator A21 finishes the piece placing, the sucker grabbing mechanism is driven to return to the piece taking position 11 of the manipulator A, so that one period of the manipulator A21 is finished.
The manipulator B22 and the manipulator C23 respectively carry the two middle sheets, the sheet taking position and the sheet placing position correspond to the manipulators one by one, the movement period is the same as that of the manipulator A21, and detailed description is omitted.
Through the coordinated operation of three manipulators, distinguish edge piece and intermediate lamella, then send to heating device welding cluster through the unloading belt respectively, do not influence the efficiency of transport link simultaneously.
Finally, it should be noted that the above-mentioned list is only a specific embodiment of the present invention. It is obvious that the present invention is not limited to the above embodiments, but many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.
Claims (7)
1. A battery piece carrying device for a lap-welding machine of a tile assembly is characterized by comprising a feeding belt, a visual detection device, a discharging device and a waste collecting box;
the feeding belt can run from left to right and is used for feeding the cut pieces of the complete battery pieces after being cut; the foremost end of the feeding belt is provided with a contour detection photographing position, and a visual detection device is arranged at the contour detection photographing position; the visual detection device comprises a camera and an image recognition program module, wherein the camera is used for carrying out image shooting on each cutting piece of the material loading at a contour detection shooting position, the image recognition program module can carry out appearance contour detection on the cutting pieces by utilizing the image shot by the camera, detect whether the cutting pieces are qualified or not, distinguish the cutting pieces into edge pieces and middle pieces, respectively transmit the position information of the qualified cutting pieces to the mechanical arms, transmit all the position information of the edge pieces to one of the mechanical arms, and transmit the position information of the middle pieces to the rest of the mechanical arms; the tail end of the feeding belt is provided with a waste collecting box for collecting unqualified cutting pieces running at the tail end of the feeding belt; the feeding belt is realized by adopting one belt or at least two collinear belts; the feeding belt is a transparent or semitransparent flat belt, a light source is arranged below the feeding belt, and a camera of the visual detection device is arranged above the feeding belt;
the blanking device comprises a mechanical arm, a positioning vision system and a blanking belt; the free terminal of the manipulator is provided with at least one group of sucking disc grabbing mechanisms, and each group of sucking disc grabbing mechanisms can grab one cutting piece; the cutting piece conveying device comprises a feeding belt, a discharging belt, a positioning vision system and a manipulator, wherein the feeding belt is arranged in a vertical mode, a photographing position is arranged between the feeding belt and the discharging belt, the photographing position is provided with the positioning vision system for photographing from bottom to top, and when the manipulator conveys a cutting piece to pass through the photographing position, the positioning vision system can position the cutting piece grabbed on the manipulator and transmit position information of the cutting piece relative to the manipulator; the blanking belt is provided with a chip placing position, the cutting chips can be placed on the chip placing position of the blanking belt after being grabbed by the mechanical arm from the feeding belt, and the blanking belt is used for conveying the cutting chips placed on the chip placing position to a subsequent device;
the number of the blanking devices is at least two, wherein one blanking device only takes the edge pieces, and the rest blanking devices are used for carrying the middle pieces; every unloader is provided with two at least and gets the piece position, and every manipulator snatchs the cutting piece from the piece position of getting that corresponds respectively.
2. The cell handling device for the stitch welding machine of the shingle assembly as recited in claim 1, wherein the camera of the visual inspection device is an industrial CCD camera with 1000 ten thousand pixels.
3. The battery piece conveying device for the stitch welding machine of the laminated tile assembly as claimed in claim 1, wherein the blanking device is provided with three mechanical hands for conveying the cut pieces, wherein all the position information of the edge pieces is provided for only one of the mechanical hands, the mechanical hand takes the edge pieces, the position information of the middle pieces is provided for the other two mechanical hands on average, and the two mechanical hands are used for conveying the middle pieces; the free terminal of every manipulator all is provided with two sets of sucking discs and snatchs the mechanism, makes every manipulator can snatch two cutting pieces simultaneously.
4. The device for carrying battery pieces for the stitch welding machine of the shingle assembly as claimed in claim 1, wherein the sucking disc grasping mechanism is provided with more than eight sucking discs which are uniformly distributed, and the sucking discs are at the same height level, so that the warped cutting discs can be leveled while sucking the cutting discs.
5. The battery piece carrying device for the stitch welding machine of the shingle assembly as claimed in claim 1, wherein the robot is a four-axis robot, and the position of the cut piece can be corrected by the position information of the cut piece during carrying.
6. A battery piece carrying method for a stack-tile assembly stitch welding machine is characterized by comprising the following steps:
(1) after the complete battery piece is split into cutting pieces, the cutting pieces move at a constant speed from left to right along with the feeding belt to feed;
(2) the cutting piece moves to a contour detection photographing position from left to right, and a visual detection device performs appearance contour detection and initial positioning on the cutting piece;
the appearance contour detection is to detect whether the cutting piece is qualified or not and distinguish the cutting piece into an edge piece and a middle piece;
in the initial positioning, the position information of the qualified cutting pieces is respectively transmitted to the mechanical hands, the position information of the edge pieces is completely transmitted to only one of the mechanical hands, the mechanical hand is set as the edge mechanical hand, the position information of the middle piece is transmitted to the rest of the mechanical hands, and the mechanical hand is set as the middle mechanical hand;
(3) the edge manipulator calculates the real-time coordinate of the edge piece according to the position information transmitted by the visual detection device and the belt speed of the feeding belt, and the edge piece is grabbed when the edge piece moves to the piece fetching position corresponding to the edge manipulator; after the edge piece is grabbed, the edge piece is carried by the edge manipulator to pass through the upper part of the photographing position, and a positioning vision system is used for positioning the edge piece; the edge manipulator corrects the position of the edge sheet according to the coordinate information transmitted by the positioning vision system and places the edge sheet at a sheet placing position of the blanking belt, and drives the sucking disc grabbing mechanism to return to a sheet taking position after the sheet placing is completed, so that one period of the edge manipulator is completed;
(4) the middle manipulator calculates the real-time coordinate of the middle piece according to the position information transmitted by the visual detection device and the belt speed of the feeding belt, and the middle piece is grabbed when the middle piece moves to the piece fetching position corresponding to the middle manipulator; after grabbing, the middle manipulator takes the middle piece to pass through the upper part of the photographing position, and the positioning vision system positions the middle piece; the middle manipulator corrects the position of the middle sheet according to the coordinate information transmitted by the positioning vision system and places the middle sheet at the sheet placing position of the blanking belt, and drives the sucking disc grabbing mechanism to return to the sheet taking position after the middle manipulator finishes the sheet placing, so that one period of the middle manipulator is finished;
(5) the edge pieces and the middle pieces are distinguished through the coordinated work of the edge mechanical arm and the middle mechanical arm, and then are respectively conveyed to a heating device through a discharging belt to be welded into a string.
7. The method for carrying battery pieces for the stitch welding machine of the shingle assembly as claimed in claim 6, wherein when the manipulator grabs the cutting pieces, the manipulator follows the feeding belt, i.e. the horizontal position of the sucking disc grabbing mechanism and the horizontal position of the cutting pieces on the feeding belt are kept relatively static.
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)
| Publication Number | Publication Date |
|---|---|
| CN109244001A CN109244001A (en) | 2019-01-18 |
| CN109244001B true CN109244001B (en) | 2021-01-15 |
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| CN109742193B (en) * | 2019-02-26 | 2023-12-08 | 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 |
| 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 |
| CN113066760B (en) * | 2021-03-19 | 2023-02-14 | 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 |
| CN113247582B (en) * | 2021-07-01 | 2021-10-08 | 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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| JP4369578B2 (en) * | 1999-12-01 | 2009-11-25 | セイコーインスツル株式会社 | Labeling device |
| DE102010055402A1 (en) * | 2010-12-21 | 2012-06-21 | Li-Tec Battery Gmbh | Method and system for producing electrical cells for electrochemical energy storage devices |
| US9780253B2 (en) * | 2014-05-27 | 2017-10-03 | Sunpower Corporation | Shingled solar cell module |
| CN206711910U (en) * | 2016-08-24 | 2017-12-05 | 河北羿珩科技股份有限公司 | Cell piece shunting laying material feeding system |
| CN108202028A (en) * | 2016-12-19 | 2018-06-26 | 无锡市瑞能科技有限公司 | Solar battery sheet aberration and defects detection sorting machine |
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