CN109263252A - A kind of draping adaptive printing method and device of crystal silicon photovoltaic solar battery - Google Patents
A kind of draping adaptive printing method and device of crystal silicon photovoltaic solar battery Download PDFInfo
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- CN109263252A CN109263252A CN201811181359.8A CN201811181359A CN109263252A CN 109263252 A CN109263252 A CN 109263252A CN 201811181359 A CN201811181359 A CN 201811181359A CN 109263252 A CN109263252 A CN 109263252A
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- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 title claims abstract description 64
- 229910052710 silicon Inorganic materials 0.000 title claims abstract description 64
- 239000010703 silicon Substances 0.000 title claims abstract description 64
- 238000007639 printing Methods 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 33
- 239000013078 crystal Substances 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 82
- 235000012431 wafers Nutrition 0.000 claims abstract description 39
- 238000004519 manufacturing process Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims description 11
- 239000002243 precursor Substances 0.000 claims description 7
- 238000007650 screen-printing Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 3
- 238000009472 formulation Methods 0.000 claims description 3
- 239000002002 slurry Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41M—PRINTING, DUPLICATING, MARKING, OR COPYING PROCESSES; COLOUR PRINTING
- B41M1/00—Inking and printing with a printer's forme
- B41M1/12—Stencil printing; Silk-screen printing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/08—Machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
- B41F15/16—Printing tables
- B41F15/18—Supports for workpieces
- B41F15/26—Supports for workpieces for articles with flat surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41F—PRINTING MACHINES OR PRESSES
- B41F15/00—Screen printers
- B41F15/14—Details
- B41F15/34—Screens, Frames; Holders therefor
- B41F15/36—Screens, Frames; Holders therefor flat
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Screen Printers (AREA)
- Photovoltaic Devices (AREA)
Abstract
The invention discloses a kind of draping adaptive printing method and devices of crystal silicon photovoltaic solar battery, the device include four into plate positioning camera, into plate positioning camera fixed frame, four bearing ink pads, a rotation positioning platform, rack platform, silk screen, Three Degree Of Freedom silk screen motion platform and control system, the control system include upper computer and lower computer；The method of the present invention is demarcated first into plate positioning camera and Three Degree Of Freedom silk screen motion platform, when replacing Printing screen by printing several pieces silicon wafers, measure relative position of the new web plate relative to former web plate, Three Degree Of Freedom silk screen motion platform due adjustment amount of three degree of freedom in the production process after this draping is calculated again, it being capable of adaptive printing production after draping with realization device.The method of the present invention and device have the characteristics that high production efficiency, positioning accuracy are high, stability is good.
Description
Technical field
The present invention relates to computer vision precision positioning technologies, are specifically used for such as crystal silicon solar-energy photovoltaic battery screen printing
Brush equipment, in particular to the draping adaptive printing method and device of a kind of crystal silicon photovoltaic solar battery.
Background technique
Crystal silicon solar-energy photovoltaic battery screen printing apparatus is a kind of automatically to realize silk screen and printing based on machine vision
The print system of object fine registration.The feelings of silk screen are needed replacing due to inevitably occurring in production process because of silk screen rupture etc.
Condition, and because mechanical erection error is different, after replacement silk screen every time, the position of two pull spring net of front and back can not be overlapped well
Together, so, after replacing silk screen every time, the parameter for taking some time adjustment equipment is required, so that the silk screen newly replaced
Adapt to production.
In order to realize the accuracy of printing, after replacing silk screen, the position and direction parameter of new silk screen can be redeterminated again,
New silk screen is set to adapt to production.But this method needs to expend the more time.It can also be before silk screen be installed, to Three Degree Of Freedom silk screen
The kinematic parameter of motion platform is accurately demarcated, and after installing silk screen every time, measures the fixed position of silk screen relative to new fortune
The deviation of the base position of moving platform, then the method that the deviation is compensated as web position make new silk screen adapt to production.But it should
Method needs in addition to install other measuring devices additional when the kinematic parameter of Three Degree Of Freedom silk screen motion platform under survey, higher cost,
And operation difficulty is larger.
Summary of the invention
It is an object of the invention to overcome shortcoming and deficiency in the prior art, a kind of crystal silicon photovoltaic solar battery is provided
Draping adaptive printing method and device, the relative position of silk screen and precursor net after draping is gone out based on machine vision metrology and is closed
It is Three Degree Of Freedom silk screen motion platform institute when calculating new silk screen in real time by adaptive algorithm to move to target print position
The amount of exercise needed.This method can guarantee measurement accuracy, and effectively improve silk screen replacement efficiency, to improve print production effect
Rate.
In order to achieve the above object, the present invention adopts the following technical scheme that:
A kind of draping adaptive printing device of crystal silicon photovoltaic solar battery, including four into plate positioning camera, into plate
Positioning camera fixed frame, four bearing ink pads, a rotation positioning platform, rack platform, silk screen, silk screen motion platform and control
System；It is described to be arranged on the rack platform into plate positioning camera fixed frame, rotation positioning platform and silk screen motion platform, it is described
Four are fixed on described on plate positioning camera fixed frame into plate positioning camera, and four bearing ink pads are arranged in the rotation
Turn on locating platform, the silk screen is mounted and fixed on the end of silk screen motion platform；Wherein, a bearing ink pad is a work
Position into the bearing ink pad below plate positioning camera is into plate station positioned at four, and bearing ink pad below silk screen is printing station；
The control system includes upper computer and lower computer, and the host computer and four connect into plate positioning camera and slave computer
It connects, the slave computer is connect with the rotation positioning platform and silk screen motion platform.
As a preferred technical solution, the host computer be used for obtain slave computer and camera transmission board kinematic parameter and
Picture, and carry out data operation；The slave computer is used to receive the data of host computer and controls rotation positioning platform and silk screen fortune
The movement of moving platform.
The silk screen motion platform is Three-degree-of-freedom motion platform as a preferred technical solution, in the platform end
Three degree of freedom is respectively the direction X, Y, T.
The printing process of the draping adaptive printing device of crystal silicon photovoltaic solar battery as a preferred technical solution,
Include the following steps:
(1) complete machine is installed, and completes the calibration into plate positioning camera and silk screen motion platform kinematic parameter, keeps it unified extremely
In unified coordinate system；
(2) a pull spring net is loaded onto, determines and records the relative positional relationship of its benchmark position and silk screen motion platform；
(3) silk screen is removed, silk screen is more renewed, injects printing slurry；
(4) control silk screen motion platform movement, makes its actuating station return benchmark position；
(5) it successively opens into silicon wafer four on bearing ink pad, silk screen motion platform remains stationary on the direction X, Y, T, rotation rotation
Turn locating platform, successively prints grid line on four silicon wafers；
(6) the index point position that four silicon wafer upper surfaces print successively is measured by machine vision, calculated indirectly
Silk screen benchmark position after replacement；
(7) it calculates and records the position deviation between the first pull spring net benchmark position and the silk screen newly replaced；
(8) in process of production, preceding required silk screen fortune is printed every time after calculating more silk draping by adaptive algorithm
Amount of exercise on the direction moving platform X, Y, T；
(9) amount of exercise on the direction X, Y, T being calculated according to step (8), driving silk screen motion platform will be under silk screen
It is down to printing position, executes printing.
As a preferred technical solution, in step (2), detailed process is as follows:
It is in silk screen motion platform at benchmark position, then opens silicon wafer in bearing ink pad, successively by silk screen into plate four
It is printed on every silicon wafer once, finally successively silicon wafer is rotated from printing station into plate station by rotation positioning platform, is touched
Hair camera is taken pictures, and by the position where printing mark object on silicon wafer in machine vision metrology photo, is obtained indirectly and is recorded this
Base position where silk screen in unified coordinate system.
As a preferred technical solution, in step (7), the calculating simultaneously records the first pull spring net benchmark position and newly replaces
Position deviation between silk screen, specifically in unified coordinate system, the base position of former web plate is (XA,YA), new web plate benchmark position
It is set to (XB,YB), and the angle being calculated between new silk screen plate benchmark position and the benchmark position of precursor web plate is θ.
As a preferred technical solution, in step (8), printed every time after the more silk draping by adaptive algorithm calculating
Amount of exercise on the direction silk screen motion platform X, Y, T required for preceding, detailed process is as follows:
When in real time into plate silicon wafer, by four into the real time position that plate positioning camera can measure silicon wafer be (XC,YC), silicon
The angle of piece and new silk screen plate is α；New web plate passes through around its center rotation alpha, then translates (X in X directionC-XB), it is translated along Y-direction
(YC-YB), then new web plate can be made just to cover above silicon wafer, i.e., new web plate reaches target position；The void of former web plate benchmark position at this time
Quasi- position also can be considered former web plate around new web plate center rotation alpha, then in X direction translate (XC-XB), (Y is translated along Y-directionC-YB)
It obtains, the virtual location of former web plate benchmark position is (X after movementA',YA'), the virtual location of former web plate benchmark position is combinable at this time
Point is calculated around arbitrary point rotation formula and translation formula in plane, as follows after abbreviation:
XA'=(XA-XB)×cosα-(YA-YB)×sinα+XC
YA'=(XA-XB)×sinα-(YA-YB)×cosα+YC
The virtual location of former web plate benchmark position and the angle of its original benchmark position are α.
As a preferred technical solution, in step (9), detailed process is as follows:
After step (8) obtains the virtual location of former web plate benchmark position in real time, moved according to the silk screen of step (1) calibration
The relative positional relationship of former web plate benchmark position and silk screen motion platform that platform parameters and step (2) obtain calculates silk screen movement
Amount of exercise required for platform, then by controlling silk screen motion platform for precursor web movement to current base position virtual location
When, new silk screen plate can arrive at target position, and drop to printing position, execute printing.
Amount of exercise required for the calculating silk screen motion platform as a preferred technical solution, specifically calculating silk screen
Umber of pulse needed for the three degree of freedom axis of motion platform moves to target position, i.e., each axis move distance/each axis movement arteries and veins
Rush equivalent.
The working principle of apparatus of the present invention: demarcating first into plate positioning camera and silk screen motion platform, then transports in silk screen
Moving platform end case fills a pull spring net and prints to silicon wafer, followed by into plate positioning camera to passing through rotation positioning platform
It rotates through the printing silicon wafer come to take pictures, and the image transmitting that will take pictures, to host computer, host computer is by machine vision to image
It is handled, so that it is determined that and recording the relative positional relationship of the silk screen Yu silk screen motion platform；Then silk screen is replaced, according to preceding
The mode of stating determines and records new web position；Then host computer using adaptive algorithm to precursor net, new silk screen and in real time into
The positional relationship of plate silicon wafer is handled, and is calculated silk screen motion platform three degree of freedom in the production process after this draping and is answered
Some adjustment amounts so that new silk screen be driven to arrive at target position, and drop to printing position, execute printing to silicon wafer.
The present invention has the following advantages compared with the existing technology and effect:
(1) the method for the present invention uses machine vision metrology, cooperates high-precision rotary locating platform, by measuring silk-screen printing
Grid line index point afterwards measures silk screen coordinate in unified coordinate system indirectly, and this method is easy, practical, quick, accurate, simultaneously
Accuracy guarantee is provided for subsequent calculating.
(2) the method for the present invention need to only obtain the relative position parameter of a pull spring net, no longer need to debug after subsequent draping
Adaptive approach operational process is simple, it is easy to accomplish automation, time needed for saving draping post debugging equipment improve raw dose-effect
Rate.
Detailed description of the invention
Fig. 1 is the draping adaptive printing method flow diagram of crystal silicon photovoltaic solar battery of the present invention；
Fig. 2 is the shaft side figures such as the draping adaptive printing apparatus structure of crystal silicon photovoltaic solar battery of the present invention；
Fig. 3 is the draping adaptive printing apparatus structure top view of crystal silicon photovoltaic solar battery of the present invention；
Fig. 4 is the draping adaptive printing device right view of crystal silicon photovoltaic solar battery of the present invention；
Fig. 5 is the three degree of freedom direction schematic diagram of Three Degree Of Freedom silk screen motion platform of the invention；
Fig. 6 a~Fig. 6 c is the schematic diagram of adaptive algorithm of the present invention；Wherein Fig. 6 a is to determine that former web plate is opposite with new web plate
The schematic diagram of position；Fig. 6 b is the schematic diagram of determining position of silicon wafer；Fig. 6 c is that former web plate reaches the stylish web plate translation of virtual location
Or it rotates to the schematic diagram of position of silicon wafer；
Show in Fig. 2~Fig. 4: 1-into plate positioning camera；2-camera fixed frames；3-bearing ink pads；4-rotational positionings are flat
Platform；5-rack platforms；6-silk screens；7-Three Degree Of Freedom silk screen motion platforms.
Specific embodiment
For a better understanding of the present invention, the reality for being further described, but being invented with reference to the accompanying drawings and examples
It is without being limited thereto to apply mode.
Embodiment
As shown in Figure 2, Figure 3 and Figure 4, the device of a kind of draping adaptive printing method of crystal silicon photovoltaic solar battery,
Including four into plate positioning camera 1, into plate positioning camera fixed frame 2, four bearing ink pad 3, one rotation positioning platform 4, rack
Platform 5, silk screen 6, Three Degree Of Freedom silk screen motion platform 7 and control system；It is described flat into plate positioning camera fixed frame 2, rotational positioning
Platform 4 and Three Degree Of Freedom silk screen motion platform 7 are arranged on the rack platform 5, and described four are fixed on into plate positioning camera 1
It is described on plate positioning camera fixed frame 2, four bearing ink pads 3 are arranged on the rotation positioning platform 4, the silk screen 6
It is mounted and fixed on the end of Three Degree Of Freedom silk screen motion platform 7；Wherein, bearing ink pad is a station, be located at four into
The bearing ink pad of 1 lower section of plate positioning camera is that the bearing ink pad into plate station, positioned at 6 lower section of silk screen is printing station；
The control system includes upper computer and lower computer, and the host computer and four connect into plate positioning camera and slave computer
It connects, the slave computer is connect with the rotation positioning platform and Three Degree Of Freedom silk screen motion platform；The host computer is for obtaining
The board kinematic parameter and picture of slave computer and camera transmission, and carry out data operation；The slave computer is for receiving host computer
The data of processing and the movement for controlling rotation positioning platform and silk screen motion platform.
In the present embodiment, the three degree of freedom of the Three Degree Of Freedom silk screen motion platform end is respectively X, Y, T, is such as shown
It is intended to shown in 5；
In the present embodiment, as shown in Figure 1, a kind of draping adaptive printing method of crystal silicon photovoltaic solar battery, including
Following step:
Step 1, installation complete machine, and complete the mark into plate positioning camera and Three Degree Of Freedom silk screen motion platform kinematic parameter
It is fixed；
In the present embodiment, after installing complete machine, four acquisition parameters into plate positioning camera are rationally set；Routinely
Method completes four calibration into plate camera and Three Degree Of Freedom silk screen motion platform kinematic parameter, makes four cameras and three certainly
It can be unified into unified coordinate system by the movement of degree silk screen motion platform.
Step 2 loads onto a pull spring net, determines and records the relative positional relationship of the silk screen Yu silk screen motion platform；
In the present embodiment, it is in Three Degree Of Freedom silk screen motion platform at benchmark position, then opens silicon wafer into plate four
In bearing ink pad, successively printed on every silicon wafer by silk screen it is primary, finally by rotation positioning platform successively by silicon wafer from printing
Station rotary triggers camera and takes pictures, by where printing mark object on silicon wafer in machine vision metrology photo into plate station
Position, the base position where obtaining indirectly and recording the silk screen in unified coordinate system.
Step 3, replacement silk screen, determine and record new web position；
In the present embodiment, the silk screen loaded onto step 2 is removed, and changes new silk screen, injects printing slurry；Control
The movement of Three Degree Of Freedom silk screen motion platform, makes its actuating station return benchmark position；It successively opens into silicon wafer four on bearing ink pad, three freely
Degree silk screen motion platform remains stationary on the direction X, Y, T, every time 90 degree of rotation positioning platform of rotation, successively on four silicon wafers
Print grid line；The index point position that four silicon wafer upper surfaces print successively is measured by machine vision, is calculated indirectly more
Benchmark position of the silk screen in unified coordinate system after changing, and then the relative position being calculated between new silk screen and precursor net is closed
System.
Step 4, by adaptive algorithm, calculate in real time X required for Three Degree Of Freedom silk screen motion platform before printing every time,
Y, the amount of exercise of T；In the present embodiment, adaptive algorithm signal is as shown in Fig. 6 a~Fig. 6 c.By preceding step it is known that as schemed
Shown in 6a, in unified coordinate system, if the base position of former web plate is (XA,YA), new web plate base position is (XB,YB), new net
Angle between plate benchmark position and the benchmark position of former web plate is θ；When in real time into plate silicon wafer, as shown in Figure 6 b, by four into plate
The real time position that positioning camera can measure silicon wafer is (XC,YC), the angle of silicon wafer and new web plate is α；So as fig. 6 c,
New web plate passes through around its center rotation alpha, then translates (X in X directionC-XB), (Y is translated along Y-directionC-YB), then new web plate can be made rigid
It covers above silicon wafer well, i.e., new web plate reaches target position；The virtual location of former web plate benchmark position also can be considered former web plate at this time
Around new web plate center rotation alpha, then (X is translated in X directionC-XB), (Y is translated along Y-directionC-YB) obtain, former web plate benchmark after movement
The virtual location of position is (XA',YA'), the virtual location of former web plate benchmark position can be rotated in conjunction with point in plane around arbitrary point at this time
Formula and translation formula calculate, as follows after abbreviation:
XA'=(XA-XB)×cosα-(YA-YB)×sinα+XC
YA'=(XA-XB)×sinα-(YA-YB)×cosα+YC
The virtual location of former web plate benchmark position and the angle of its original benchmark position are α.
After obtaining the virtual location of former web plate benchmark position in real time, according to the Three Degree Of Freedom silk screen motion platform of step 1 acquisition
The relative positional relationship of former web plate benchmark position and Three Degree Of Freedom silk screen motion platform that kinematic parameter and step 2 obtain, calculates silk
Umber of pulse needed for the three degree of freedom axis of net motion platform moves to target position, i.e., each axis move distance/each axis movement
Pulse equivalency, when then by control Three Degree Of Freedom silk screen motion platform by former web movement to current base position virtual location,
New web plate can arrive at target position, and drop to printing position, execute printing.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the present invention should subject to the claims.
Claims (9)
1. a kind of draping adaptive printing device of crystal silicon photovoltaic solar battery, which is characterized in that positioned including four into plate
Camera, into plate positioning camera fixed frame, four bearing ink pads, a rotation positioning platform, rack platform, silk screen, silk screen motion platform,
And control system；It is described to be arranged into plate positioning camera fixed frame, rotation positioning platform and silk screen motion platform in the rack
On platform, described four are fixed on described on plate positioning camera fixed frame into plate positioning camera, and four bearing ink pads are set
It sets on the rotation positioning platform, the silk screen is mounted and fixed on the end of silk screen motion platform；Wherein, a bearing ink pad
It into the bearing ink pad below plate positioning camera is into plate station positioned at four, the bearing ink pad below silk screen is for a station
Printing station；
The control system includes upper computer and lower computer, and the host computer is connect with four into plate positioning camera and slave computer,
The slave computer is connect with the rotation positioning platform and silk screen motion platform.
2. the draping adaptive printing device of crystal silicon photovoltaic solar battery according to claim 1, which is characterized in that institute
Host computer is stated for obtaining the board kinematic parameter and picture of slave computer and camera transmission, and carries out data operation；The bottom
Machine is used to receive the data of host computer and controls the movement of rotation positioning platform and silk screen motion platform.
3. the draping adaptive printing device of crystal silicon photovoltaic solar battery according to claim 1, which is characterized in that institute
Stating silk screen motion platform is Three-degree-of-freedom motion platform, is respectively the direction X, Y, T in the three degree of freedom of the platform end.
4. the draping adaptive printing device of crystal silicon photovoltaic solar battery according to any one of claims 1 to 3
Printing process, which is characterized in that include the following steps:
(1) complete machine is installed, and completes the calibration into plate positioning camera and silk screen motion platform kinematic parameter, keeps it unified to unified
In coordinate system；
(2) a pull spring net is loaded onto, determines and records the relative positional relationship of its benchmark position and silk screen motion platform；
(3) silk screen is removed, silk screen is more renewed, injects printing slurry；
(4) control silk screen motion platform movement, makes its actuating station return benchmark position；
(5) it successively opens into silicon wafer four on bearing ink pad, silk screen motion platform remains stationary on the direction X, Y, T, and rotation rotation is fixed
Bit platform successively prints grid line on four silicon wafers；
(6) the index point position that four silicon wafer upper surfaces print successively is measured by machine vision, calculates replacement indirectly
Silk screen benchmark position afterwards；
(7) it calculates and records the position deviation between the first pull spring net benchmark position and the silk screen newly replaced；
(8) in process of production, by the way that the preceding required silk screen movement of printing is put down every time after adaptive algorithm calculating more silk draping
Amount of exercise on the direction platform X, Y, T；
(9) amount of exercise on the direction X, Y, T being calculated according to step (8), driving silk screen motion platform drop to silk screen
Printing position executes printing.
5. the draping adaptive printing method of crystal silicon photovoltaic solar battery according to claim 4, which is characterized in that step
Suddenly in (2), detailed process is as follows:
It is in silk screen motion platform at benchmark position, then opens silicon wafer in bearing ink pad, by silk screen successively every into plate four
It is primary to open printing on silicon wafer, finally successively silicon wafer is rotated from printing station into plate station by rotation positioning platform, triggers phase
Machine is taken pictures, and by the position where printing mark object on silicon wafer in machine vision metrology photo, is obtained indirectly and is recorded the silk screen
Base position in the unified coordinate system of place.
6. the draping adaptive printing method of crystal silicon photovoltaic solar battery according to claim 4, which is characterized in that step
Suddenly in (7), the calculating simultaneously records the position deviation between the first pull spring net benchmark position and the silk screen newly replaced, and is specifically uniting
In one coordinate system, the base position of former web plate is (XA,YA), new web plate base position is (XB,YB), and new silk screen is calculated
Angle between plate benchmark position and the benchmark position of precursor web plate is θ.
7. the draping adaptive printing method of crystal silicon photovoltaic solar battery according to claim 6, which is characterized in that step
Suddenly in (8), silk screen motion platform X, Y, the side T required for printing is preceding every time after the more silk draping by adaptive algorithm calculating
Upward amount of exercise, detailed process is as follows:
When in real time into plate silicon wafer, by four into the real time position that plate positioning camera can measure silicon wafer be (XC,YC), silicon wafer with
The angle of new silk screen plate is α；New web plate passes through around its center rotation alpha, then translates (X in X directionC-XB), (Y is translated along Y-directionC-
YB), then new web plate can be made just to cover above silicon wafer, i.e., new web plate reaches target position；Former web plate benchmark position is virtual at this time
Position also can be considered former web plate around new web plate center rotation alpha, then in X direction translate (XC-XB), (Y is translated along Y-directionC-YB)
It arrives, the virtual location of former web plate benchmark position is (X after movementA',YA'), the virtual location of former web plate benchmark position is in combination with flat at this time
Point is calculated around arbitrary point rotation formula and translation formula in face, as follows after abbreviation:
XA'=(XA-XB)×cosα-(YA-YB)×sinα+XC
YA'=(XA-XB)×sinα-(YA-YB)×cosα+YC
The virtual location of former web plate benchmark position and the angle of its original benchmark position are α.
8. the draping adaptive printing method of crystal silicon photovoltaic solar battery according to claim 7, which is characterized in that step
Suddenly in (9), detailed process is as follows:
After step (8) obtains the virtual location of former web plate benchmark position in real time, according to the silk screen motion platform of step (1) calibration
The relative positional relationship of former web plate benchmark position and silk screen motion platform that parameter and step (2) obtain, calculates silk screen motion platform
Required amount of exercise, when then by control silk screen motion platform by precursor web movement to current base position virtual location,
New silk screen plate can arrive at target position, and drop to printing position, execute printing.
9. the draping adaptive printing method of crystal silicon photovoltaic solar battery according to claim 8, which is characterized in that institute
Amount of exercise required for calculating silk screen motion platform is stated, the three degree of freedom axis of specifically calculating silk screen motion platform moves to mesh
Umber of pulse needed for cursor position, i.e., each axis move distance/each axis movement pulse equivalency.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181359.8A CN109263252B (en) | 2018-10-11 | 2018-10-11 | Screen-changing self-adaptive printing method and device for crystalline silicon photovoltaic solar cell |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811181359.8A CN109263252B (en) | 2018-10-11 | 2018-10-11 | Screen-changing self-adaptive printing method and device for crystalline silicon photovoltaic solar cell |
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| CN109263252A true CN109263252A (en) | 2019-01-25 |
| CN109263252B CN109263252B (en) | 2024-03-26 |
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| CN201811181359.8A Active CN109263252B (en) | 2018-10-11 | 2018-10-11 | Screen-changing self-adaptive printing method and device for crystalline silicon photovoltaic solar cell |
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