CN109585611A - A kind of battery strings composition method and the battery strings type-setting machine using this method - Google Patents
A kind of battery strings composition method and the battery strings type-setting machine using this method Download PDFInfo
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- CN109585611A CN109585611A CN201910064395.4A CN201910064395A CN109585611A CN 109585611 A CN109585611 A CN 109585611A CN 201910064395 A CN201910064395 A CN 201910064395A CN 109585611 A CN109585611 A CN 109585611A
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- 239000000203 mixture Substances 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 239000011521 glass Substances 0.000 claims abstract description 46
- 230000008569 process Effects 0.000 claims abstract description 4
- 230000002123 temporal effect Effects 0.000 claims description 18
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 230000005540 biological transmission Effects 0.000 description 7
- 230000005611 electricity Effects 0.000 description 5
- 238000003466 welding Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000002407 reforming Methods 0.000 description 2
- 230000002459 sustained effect Effects 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- H01L31/18—Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof
- H01L31/1876—Particular processes or apparatus for batch treatment of the devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- 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
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Abstract
Present invention discloses a kind of battery strings composition methods, battery strings (1) are moved on glass panel (100) by it by robot (13) from battery strings pipeline, and battery strings (1) are taken pictures by positioning mechanism and in moving process by camera；Control system obtains the temporary position (17) of battery strings (1) according to the photo that camera is shot, and by obtaining the difference of temporary position (17) Yu normal place (16) compared with the normal place (16) being pre-stored in control system；Control system modifies robot (13) subsequent motion profile according to difference, and control robot artoregistration mechanism is moved on glass panel (100).In addition, the present invention also provides the type-setting machines of the above-mentioned battery strings composition method of application.Battery strings directly can be moved to glass panel from battery strings pipeline by robot in the present invention, without stopping at positioning mechanism, greatly accelerate production efficiency.
Description
Technical field
The present invention relates to typesetting system field, in particular to the electricity of a kind of battery strings composition method and the application composition method
Pond string type-setting machine.
Background technique
In photovoltaic cell production process, multiple photovoltaic cell strings concatenated need to be arranged in as required and complete EVA's
It is usually higher to the position accuracy demand of battery strings to connect on tempered glass.Traditional composition method is manual operation,
Solar battery string is arranged on substrate in order, not only labor efficiency is low for this mode, but also precision is difficult to ensure, to behaviour
The skill requirement for making worker is higher.Moreover, photovoltaic cell string is frangible, therefore, there are problems for manual operation.
Currently, the equipment for capableing of auto arrangement battery strings is had already appeared, for example, publication No. is the hair of 108529219 A of CN
Bright patent application, there is disclosed a kind of robot type-setting machines, are turned the battery strings on conveyor belt line by conveying machine people
It moves on glass panel and is arranged.Conveyor belt line is connected with string welding machine, for sending the battery strings processed at string welding machine
To conveying machine people.
Since the battery strings to be come by the transport of conveyor belt line are without accurate positioning, position, angle etc.
Certain difference can occur, it is difficult to which guarantee conveys the battery strings position consistency to come every time, and therefore, robot is according to presetting
Track when battery strings are carried to glass panel, be just difficult to ensure the position precision that battery strings are put.
For this problem, following method is generallyd use in the prior art and is solved, as shown in Figure 1, being arranged in the prior art
There are light transmission workbench 4 and light source 2 and detection camera 3 positioned at 4 two sides of light transmission workbench.Specifically, light source 2 is arranged in light transmission
The top of light transmission workbench 4 is arranged in 4 lower section of workbench, detection camera 3, and detection camera 3 corresponds to position in battery strings 1 for acquiring
The backlight image set.Robot is placed on light transmission workbench 4 after drawing battery strings from conveyor belt line, camera 3
The position of battery strings is detected, the position of battery strings 1 that camera 3 captures is compared by control system with the normal place of storage
And calculate corresponding difference.Then, control system controls robot according to difference and adjusts itself posture to compensate difference, later
Battery strings 1 are drawn, are then placed on glass panel according to pre-set track.
The problem of above-mentioned technical proposal, is, firstly, conveying machine people when battery strings are transported on glass panel, needs
First battery strings to be placed on light transmission workbench and be taken pictures, and drawn again after adjusting the position of conveying machine people according to testing result
Battery strings are placed on glass panel and arrange, this waiting time for being unfavorable for improving production capacity, has seriously affected production efficiency；
Secondly, solar battery string typesetting at present corresponds to the mode of a string welding machine using a type-setting machine substantially, robot
Cost is very high, when yield is larger, needs using more robot, being unfavorable for enterprise reduces production cost；Furthermore
After long-time use, light transmission workbench meeting aging, abrasion are to influence precision.
Summary of the invention
It is an object of the invention in view of the above-mentioned drawbacks in the prior art, provide a kind of battery strings composition method and application
The battery strings type-setting machine of the composition method, what can not be stopped is moved to battery strings on glass panel, to improve production effect
Rate.
For achieving the above object, the present invention provides a kind of battery strings composition methods comprising following steps: providing
The control of robot, glass panel, battery strings, the battery strings pipeline of the conveying battery strings and the control robot operation
System, the battery strings composition method further includes following steps:
Positioning mechanism is provided, the positioning mechanism includes at least one camera；
The battery strings are moved to the glass panel, the battery strings from the battery strings pipeline by the robot
Pass through the positioning mechanism in moving process and is taken pictures by the camera；
The control system obtains the temporary position of the battery strings according to the photo that camera is shot, and by with deposit in advance
The normal place being stored in the control system compares, and obtains the difference of the temporary position Yu the normal place；
The control system modifies the subsequent motion profile of robot according to the difference, controls robot from the contraposition
Mechanism is moved on the glass panel.
Further, the normal place includes the first standard coordinate A and the second standard coordinate B, the temporary position packet
It includes and the corresponding first temporal coordinate M of the first standard coordinate A and corresponding with the second normal place B second interim
Coordinate N.
Further, the first standard coordinate A and the first temporal coordinate M corresponds to the long side midpoint of the battery strings,
The second standard coordinate B and the second temporal coordinate N corresponds to the central point of the battery strings.
Further, the difference includes X to grid deviation, Y-direction grid deviation and angular deviation；The X is inclined to coordinate
Difference be on the normal place and the temporary position between corresponding two points X to deviation；The Y-direction grid deviation is institute
State the deviation of Y-direction between corresponding two points on normal place and the temporary position；The angular deviation is the first standard seat
It marks the first line L1 and the first temporal coordinate M that A and the second standard coordinate B is formed and second that the second temporal coordinate N is formed connects
Angle between line L2.
Further, the battery strings pipeline includes the first battery strings pipeline positioned at the robot two sides and the
Two battery strings pipelines, the robot is alternately from the first battery strings pipeline and the mobile electricity of the second battery strings pipeline
Pond string.
Further, the positioning mechanism includes the first positioning mechanism and the second aligning machine positioned at the robot two sides
Structure.
Further, the camera includes first camera and second camera, and the first camera and second camera are clapped respectively
Take the photograph the battery strings both ends.
Further, the light source for being pointed into the camera is additionally provided with below the camera.
On the other hand, the present invention also proposes a kind of battery strings type-setting machine, it is characterised in that: it is arranged using above-mentioned battery strings
Version method carries out typesetting, and the battery strings type-setting machine includes robot, glass panel, battery strings, the electricity for conveying the battery strings
Pond string pipeline and the control system for controlling the robot operation.
Further, the battery strings type-setting machine further includes glass panel conveying mechanism, the glass panel conveying mechanism
It conveys and positions the glass panel.
Compared with the prior art, the present invention has the advantages that
1. battery strings directly can be moved to glass panel from battery strings pipeline by robot in the present invention, without aligning
It is stopped at mechanism, greatly accelerates production efficiency；
2. robot corresponds to two battery strings pipelines in the present invention, alternately to the electricity on two battery strings pipelines
Pond string carried, typesetting, is not only increased production efficiency, furthermore, it is possible to reduce the quantity of robot, is reduced entreprise cost；
3. difference is calculated by two groups of corresponding points in control system in the present invention, simplicity is calculated, calculating speed is faster.
Detailed description of the invention
Fig. 1 is the schematic diagram for detecting battery strings position in the prior art.
Fig. 2 is the top view of type-setting machine in the present invention.
Fig. 3 is the structural schematic diagram of glass panel conveying mechanism in the present invention.
Fig. 4 is the position view of robot and glass panel conveying mechanism in the present invention.
Fig. 5 is the schematic diagram of positioning mechanism in the present invention.
Fig. 6 is the schematic diagram that difference calculates in the present invention.
Specific embodiment
In conjunction with the preferred embodiment and its attached drawing is further non-limitingly described in detail technical solution of the present invention.
As shown in Fig. 2, corresponding to a kind of battery strings type-setting machine of preferred embodiment of the present invention comprising glass panel conveying
Mechanism 10, the first battery strings pipeline 11, the second battery strings pipeline 12, robot 13, the first positioning mechanism 14 and second pair
Position mechanism 15.
Wherein, as shown in figure 3, glass panel conveying mechanism 10 be typically provided with conveying glass panel 100 belt line 101,
It jacks the jacking component 102 of glass panel 100 and fixes the component 103 of reforming of glass panel 100 after jacking.It reforms group
Glass panel 100 can be fixed and be positioned to part 103, to improve the precision of further battery string typesetting.Above-mentioned glass panel conveying mechanism
10 can refer to glass panel conveying mechanism in the prior art, not be described in detail herein to its structure.
First battery strings pipeline 11 and the second battery strings pipeline 12 are connected with string welding machine, for conveying battery strings 1, the
One battery strings pipeline 11 and the second battery strings pipeline 12 are located at the two sides of robot 13, when battery strings 1 are transported to
After specific position, pipeline stops conveying, which can be determined by photoelectric sensor, when photoelectric sensor detects battery
After string 1, i.e., it is out of service pipeline to be controlled by control system.The specific position is preferably the position of close robot 13, with
The operating distance of robot 13 is reduced, production is accelerated.
Robot 13 is used for the battery that will be conveyed on the first battery strings pipeline 11 and the second battery strings pipeline 12
In 1 conveying to glass panel 100 of string, and it is arranged successively.First positioning mechanism 14 and the second positioning mechanism 15 are located at glass
The two sides of panel conveying mechanism 10, for confirming the position of battery strings 1 in 1 moving process of battery strings.In the present embodiment, first
Battery strings pipeline 11 and the first positioning mechanism 14 are located at the same side, the second battery strings pipeline 12 and the second positioning mechanism 15
In the same side.
As shown in figure 4, robot 13 is preferably industrial robot, there are multiple joints, front end is provided with multiple be used for
The sucker 130 of battery strings 1 is adsorbed, sucker 130 generates adsorption capacity by devices such as vacuum generators, can adsorb battery strings 1, from
And the mobile battery strings 1 under the driving of robot 13.
As shown in figure 5, the first positioning mechanism 14 includes bracket 140 and the first shooting being arranged at intervals on bracket 140
Component 141 and the second picture shooting assembly 145.First picture shooting assembly 141 includes the first camera 142 being oppositely arranged up and down and the first light
Source 143, first light source 143 are pointed into first camera 142, and battery can be accommodated by having between first light source 143 and first camera 142
Go here and there 1 space.First camera 142 is industrial camera, can accurately capture the battery strings 1 being pointed into range positioned at it.
Second picture shooting assembly 145 is consistent with 141 structure of the first picture shooting assembly comprising the second camera being oppositely arranged up and down
146 and second light source 147, second light source 147 be pointed into second camera 146.Preferably, second camera 146 and first camera 142
At sustained height, and second light source 147 and first light source 143 are located at sustained height.
First light source 143 and second light source 147 are preferably LED planar lamp, and camera can be made to take clearly battery strings 1
Profile.
Second positioning mechanism 15 is identical as 14 structure of the first positioning mechanism, and details are not described herein again.
Below by taking above-mentioned type-setting machine as an example, its composition method is introduced, composition method is as follows:
Step 1: glass panel conveying mechanism 10 conveys glass panel 100；And glass surface is fixed by component 103 of reforming
Plate 100；
Step 2: robot 13 draws the battery strings 1 on the first battery strings pipeline 11 according to preset track, and
The first positioning mechanism 14 is moved to take pictures；Control system calculates temporary position and the storage for the battery strings 1 shot
Normal place difference, and the motion track after being modified according to difference；
Step 3: battery strings 1 are moved to glass panel 100 according to modified motion track by robot 13；
Step 4: robot 13 draws the battery strings 1 on the second battery strings pipeline 12 according to preset track, and
The second positioning mechanism 15 is moved to take pictures；Control system calculates temporary position and the storage for the battery strings 1 shot
Normal place difference, and the motion track after being modified according to difference；
Step 5: battery strings 1 are moved to glass panel 100 according to modified motion track by robot 13；
Repeat the above steps 2 to 5, i.e., alternately from the first battery strings pipeline 11 and the second battery strings pipeline 12
Battery strings 1 are drawn to be arranged on glass panel 100.
In above-mentioned steps, preset track can be the track obtained according to Structure Calculation, be also possible to by showing
Teach the track obtained online.When in such a way that teaching is online, manual control robot 13 can be first passed through and be moved to battery strings 1
At first positioning mechanism 14 (or second positioning mechanism 15), and the position for recording battery strings 1 at this time is normal place 16, Zhi Houzai
Battery strings 1 are moved on glass panel 100 by manual control robot 13.
In step 2 above, when the both ends of battery strings 1, (first end 1a and second end 1b) is located at first camera 142
When in the coverage of second camera 143, triggering camera is taken pictures.The trigger position can also be determined by the position of robot 13
Fixed, i.e., when robot 13 moves to the position, triggering camera is taken pictures.
Control system can be industrial personal computer or computer etc., can be calculated according to the result that camera is shot, and control
Robot 13 moves.
As shown in fig. 6, in general, normal place 16 can be determined by the coordinate of two points, such as the first standard coordinate A (X0,
Y0) and the second standard coordinate B (X1, Y1), later according to the picture that camera is shot calculate the first temporal coordinate M (X6,
Y6) and the second temporal coordinate N (X7, Y7), two corresponding points (i.e. the first standards can be obtained by simple mathematical computations later
Coordinate A and the first temporal coordinate M or the second standard coordinate B and the second temporal coordinate N) between coordinate difference DELTA P (Δ X, Δ
Y, θ), wherein Δ X between two corresponding points X to deviation；The deviation of Δ Y Y-direction between two corresponding points；θ is battery strings 1 and mark
Level set between drift angle, i.e. angle between the first line L1 and the second line L2, wherein the first line L1 be the first standard
The line of coordinate A and the second standard coordinate B, the second line L2 are the line of the first temporal coordinate M and the second temporal coordinate N.Root
The motion profile that subsequent robot 13 is modified according to above-mentioned difference DELTA P, can achieve very high position precision.It is readily comprehensible
It is that coordinate difference may be the difference between the second standard coordinate B and the second temporal coordinate N.
For the sake of calculating simplicity, the first standard coordinate A is chosen as the midpoint of 1 long side of battery strings, and the second standard coordinate B is optional
For 1 center of battery strings.When determining the two positions, it can be obtained by first camera 142 and the shooting of second camera 143 left
Point C (X2, Y2), Zuo Dingdian D (X3, Y3), right midpoint E (X4, Y4) and right vertex F (X5, Y5).Then X0 is (X3+X5)/2；Y0
As (Y3+Y5)/2；X1 is (X2+X4)/2；Y1 is (Y2+Y4)/2, so as to obtain the first standard coordinate A (X0, Y0)
With the second standard coordinate B (X1, Y1).Determine the mode of the first temporal coordinate M (X6, Y6) and the second temporal coordinate N (X7, Y7) with
Aforesaid way is similar, and details are not described herein again.
It should be pointed out that during battery strings 1 are moved to glass panel 100 from battery strings pipeline by robot 13
It does not need to stop, i.e., battery strings 1 only pass through the first positioning mechanism 14 (or second positioning mechanism 15), do not need at first pair
Stop etc. is to be captured at position mechanism 14 (or second positioning mechanism 15).Battery strings 1 are by (or second pair of the first positioning mechanism 14
Position mechanism 15) when camera will take pictures, and modify subsequent motion profile immediately by control system, during the motion machine
Device people 13 adjusts posture, will be in the arrangement to glass panel 100 of battery strings 1.
Obvious, since robot 13 does not need to stop during transporting battery strings 1, with prior art phase
Than having higher production efficiency.It improves simultaneously as it transports speed, therefore, is alternately conveyed from the first battery strings
Carrying battery strings are also more rapid on line 11 and the second battery strings pipeline 12, and a robot 13 can two string welding machines of typesetting
The battery strings of production.Preferably, the first battery strings pipeline 11 and the second battery strings pipeline 12 alternately convey battery strings, with
It is consistent with the carrying beat of robot 13.
Although being pointed out that above-mentioned with the row with the first battery strings pipeline 11 and the second battery strings pipeline 12
Composition method is described for version machine, it will be readily appreciated, however, that the composition method is for only having a battery strings pipeline
Type-setting machine is equally applicable.
Of the invention at least has following advantage:
1. battery strings directly can be moved to glass panel from battery strings pipeline by robot in the present invention, without aligning
It is stopped at mechanism, greatly accelerates production efficiency；
2. robot corresponds to two battery strings pipelines in the present invention, alternately to the electricity on two battery strings pipelines
Pond carried, typesetting, not only increases production efficiency, furthermore, it is possible to reduce the quantity of robot, reduces entreprise cost；
3. difference is calculated by two groups of corresponding points in control system in the present invention, simplicity is calculated, calculating speed is faster.
It is pointed out that the technical concepts and features of above-mentioned preferred embodiment only to illustrate the invention, its object is to
Those skilled in the art can understand the contents of the present invention and implements accordingly, and protection of the invention can not be limited with this
Range.Any equivalent change or modification in accordance with the spirit of the invention should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of battery strings composition method comprising following steps: providing robot (13), glass panel (13), battery strings
(1), it conveys the battery strings pipeline of the battery strings (1) and controls the control system of robot (13) operation, feature
Be: the battery strings composition method further includes following steps:
Positioning mechanism is provided, the positioning mechanism includes at least one camera；
The battery strings (1) are moved to the glass panel (100), institute from the battery strings pipeline by the robot (13)
Battery strings (1) are stated to pass through the positioning mechanism in moving process and taken pictures by the camera；
The control system obtains the temporary position (17) of the battery strings (1) according to the photo that camera is shot, and by with it is pre-
The normal place (16) being first stored in the control system compares, and obtains the temporary position (17) and the normal place
(16) difference；
The control system modifies robot (13) subsequent motion profile according to the difference, controls robot from the contraposition
Mechanism is moved on the glass panel (100).
2. according to battery strings composition method described in claim 1, it is characterised in that: the normal place (16) includes the first standard
Coordinate A and the second standard coordinate B, the temporary position (17) include the corresponding with the first standard coordinate A first interim seat
Mark M and second temporal coordinate N corresponding with the second normal place B.
3. according to battery strings composition method described in claim 2, it is characterised in that: the first standard coordinate A and first is interim
Coordinate M corresponds to the long side midpoint of the battery strings (1), and the second standard coordinate B and the second temporal coordinate N correspond to
The central point of the battery strings (1).
4. according to battery strings composition method described in claim 2, it is characterised in that: the difference includes X to grid deviation, Y-direction
Grid deviation and angular deviation；The X is to correspond on the normal place (16) and the temporary position (17) to grid deviation
Two points between X to deviation；The Y-direction grid deviation is the normal place (16) and the temporary position (17) on pair
The deviation of Y-direction between two points answered；The angular deviation is first that the first standard coordinate A and the second standard coordinate B is formed
The angle between the second line L2 that line L1 and the first temporal coordinate M and the second temporal coordinate N is formed.
5. according to battery strings composition method described in claim 1, it is characterised in that: the battery strings pipeline includes positioned at described
The first battery strings pipeline (11) and the second battery strings pipeline (12) of robot (13) two sides, the robot (13) is alternately
From the first battery strings pipeline (11) and second battery strings pipeline (12) mobile battery string (1).
6. according to battery strings composition method described in claim 5, it is characterised in that: the positioning mechanism includes being located at the machine
First positioning mechanism (14) and the second positioning mechanism (15) of people (13) two sides.
7. according to battery strings composition method described in claim 1, it is characterised in that: the camera include first camera (142) and
Second camera (146), the first camera (142) and second camera (146) shoot the battery strings (1) both ends respectively.
8. according to battery strings composition method described in claim 1, it is characterised in that: be additionally provided with below the camera described in being pointed into
The light source of camera.
9. a kind of battery strings type-setting machine, it is characterised in that: it applies the described in any item battery strings typesetting sides of claim 1 to 8
Method carries out typesetting, and the battery strings type-setting machine includes robot (13), glass panel (13), battery strings (1), the conveying battery
The control system that the battery strings pipeline of (1) of going here and there is run with the control robot (13).
10. according to battery strings type-setting machine described in claim 9, it is characterised in that: the battery strings type-setting machine includes glass panel
Conveying mechanism (10), the glass panel conveying mechanism (10) convey and position the glass panel (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910064395.4A CN109585611B (en) | 2019-01-23 | 2019-01-23 | Battery string typesetting method and battery string typesetting machine applying same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910064395.4A CN109585611B (en) | 2019-01-23 | 2019-01-23 | Battery string typesetting method and battery string typesetting machine applying same |
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| CN109585611B CN109585611B (en) | 2024-03-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113020796A (en) * | 2021-05-27 | 2021-06-25 | 中山德华芯片技术有限公司 | Flexible solar cell series welding machine and series welding method of flexible solar cell |
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| CN107611073A (en) * | 2017-09-15 | 2018-01-19 | 苏州宏瑞达新能源装备有限公司 | The localization method of solar cell string typesetting |
| CN108674746A (en) * | 2018-06-27 | 2018-10-19 | 小熊电器股份有限公司 | Automate boxing apparatus |
| CN109119354A (en) * | 2015-10-30 | 2019-01-01 | 苏州迈为科技股份有限公司 | A kind of solar battery sheet battery efficiency test method |
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|---|---|---|---|---|
| JP2001196609A (en) * | 2000-01-11 | 2001-07-19 | Honda Motor Co Ltd | Device and method for inspecting module performance of light collecting solar battery |
| CN109119354A (en) * | 2015-10-30 | 2019-01-01 | 苏州迈为科技股份有限公司 | A kind of solar battery sheet battery efficiency test method |
| CN107611073A (en) * | 2017-09-15 | 2018-01-19 | 苏州宏瑞达新能源装备有限公司 | The localization method of solar cell string typesetting |
| CN108674746A (en) * | 2018-06-27 | 2018-10-19 | 小熊电器股份有限公司 | Automate boxing apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113020796A (en) * | 2021-05-27 | 2021-06-25 | 中山德华芯片技术有限公司 | Flexible solar cell series welding machine and series welding method of flexible solar cell |
| CN113020796B (en) * | 2021-05-27 | 2021-09-03 | 中山德华芯片技术有限公司 | Series welding method of flexible solar cell |
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| CN109585611B (en) | 2024-03-29 |
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