CN109585611B - Battery string typesetting method and battery string typesetting machine applying same - Google Patents

Battery string typesetting method and battery string typesetting machine applying same Download PDF

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Publication number
CN109585611B
CN109585611B CN201910064395.4A CN201910064395A CN109585611B CN 109585611 B CN109585611 B CN 109585611B CN 201910064395 A CN201910064395 A CN 201910064395A CN 109585611 B CN109585611 B CN 109585611B
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battery string
coordinate
robot
camera
temporary
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CN109585611A (en
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关荣华
张伟
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Wuxi Shunda Intelligent Automation Engineering Co Ltd
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Wuxi Shunda Intelligent Automation Engineering Co Ltd
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    • HELECTRICITY
    • H01ELECTRIC ELEMENTS
    • H01LSEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L31/00Semiconductor 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
    • H01L31/18Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof
    • H01L31/1876Particular processes or apparatus for batch treatment of the devices
    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50Manufacturing or production processes characterised by the final manufactured product

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a battery string typesetting method, which comprises the steps that a robot (13) moves a battery string (1) from a battery string conveying line to a glass panel (100), and the battery string (1) passes through an alignment mechanism and is photographed by a camera in the moving process; the control system obtains a temporary position (17) of the battery string (1) according to the photo shot by the camera, and obtains a difference value between the temporary position (17) and the standard position (16) by comparing the temporary position with the standard position (16) pre-stored in the control system; the control system modifies the subsequent motion trail of the robot (13) according to the difference value and controls the robot to move from the alignment mechanism to the glass panel (100). In addition, the invention also provides a typesetter applying the battery string typesetting method. According to the invention, the robot can directly move the battery string from the battery string conveying line to the glass panel, and the robot does not need to stay at the position of the alignment mechanism, so that the production efficiency is greatly improved.

Description

Battery string typesetting method and battery string typesetting machine applying same
Technical Field
The invention relates to the technical field of typesetting, in particular to a battery string typesetting method and a battery string typesetting machine applying the same.
Background
In the photovoltaic cell production process, a plurality of serially connected photovoltaic cell strings are required to be arranged on EVA-paved toughened glass for connection, and the position accuracy requirement on the photovoltaic cell strings is generally high. The traditional typesetting method is manual operation, solar cell strings are arranged on a substrate in sequence, and the method is low in labor efficiency, difficult to guarantee in precision and high in skill requirement on operators. Moreover, the string of photovoltaic cells is fragile, and therefore, there are many problems with manual operation.
Currently, an apparatus capable of automatically arranging battery strings has been developed, for example, an invention patent application publication No. CN 108529219A, which discloses a robotic typesetter that transfers battery strings on a conveyor belt line to a glass panel for arrangement by a conveyance robot. The conveying belt line is connected with the series welding machine and used for carrying the battery processed at the series welding machine to the vicinity of the conveying robot.
Because the battery strings conveyed by the conveying belt line are not accurately positioned, certain differences can occur in positions, angles and the like, and the consistency of the positions of the battery strings conveyed every time is difficult to ensure, so that the robot is difficult to ensure the position accuracy of the placement of the battery strings when conveying the battery strings to the glass panel according to a preset track.
In view of this problem, the prior art is generally provided with a light-transmitting stage 4, and a light source 2 and a detection camera 3 located on both sides of the light-transmitting stage 4, as shown in fig. 1. Specifically, the light source 2 is disposed below the light-transmitting workbench 4, the detection camera 3 is disposed above the light-transmitting workbench 4, and the detection camera 3 is used for collecting backlight images at corresponding positions on the battery string 1. The robot sucks the battery string from the conveyor belt line and then places the battery string on the light-transmitting workbench 4, the camera 3 detects the position of the battery string, and the control system compares the position of the battery string 1 captured by the camera 3 with the stored standard position and calculates a corresponding difference value. Then, the control system controls the robot to adjust its posture according to the difference to compensate the difference, then sucks the battery string 1, and then places it on the glass panel according to a preset trajectory.
The problem of the above-mentioned technical scheme is that, at first, when the conveying robot conveys the battery string to the glass panel, need to place the battery string on the transparent workbench to shoot first, and absorb the battery string and place on the glass panel and arrange after adjusting the position of the conveying robot according to the detection result, this waiting time is unfavorable for improving the productivity, has seriously affected the production efficiency; secondly, at present, the mode that one typesetting machine corresponds to one serial welding machine is basically adopted for typesetting of the solar cell strings, the cost of robots is very high, and when the yield is large, more robots are needed, so that the production cost of enterprises is not reduced; furthermore, after long-term use, the light-transmitting work table ages and wears out, thereby affecting the accuracy.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a battery string typesetting method and a battery string typesetting machine applying the typesetting method, which can move a battery string onto a glass panel without stopping, thereby improving the production efficiency.
In order to achieve the above object, the present invention provides a battery string typesetting method, comprising the steps of: providing a robot, a glass panel, a battery string conveying line for conveying the battery string and a control system for controlling the robot to operate, wherein the battery string typesetting method further comprises the following steps:
providing an alignment mechanism, the alignment mechanism comprising at least one camera;
the robot moves the battery string from the battery string conveying line to the glass panel, and the battery string passes through the alignment mechanism and is photographed by the camera in the moving process;
the control system obtains a temporary position of the battery string according to a photo shot by the camera, and obtains a difference value between the temporary position and a standard position by comparing the temporary position with the standard position pre-stored in the control system;
and the control system modifies the subsequent motion trail of the robot according to the difference value and controls the robot to move from the alignment mechanism to the glass panel.
Further, the standard position includes a first standard coordinate a and a second standard coordinate B, and the temporary position includes a first temporary coordinate M corresponding to the first standard coordinate a and a second temporary coordinate N corresponding to the second standard position B.
Further, the first standard coordinates a and the first temporary coordinates M correspond to a long-side midpoint of the battery string, and the second standard coordinates B and the second temporary coordinates N correspond to a center point of the battery string.
Further, the difference includes an X-direction coordinate deviation, a Y-direction coordinate deviation, and an angle deviation; the X-direction coordinate deviation is the deviation of the X direction between the standard position and the corresponding two points on the temporary position; the Y-direction coordinate deviation is the Y-direction deviation between the standard position and two corresponding points on the temporary position; the angle deviation is an included angle between a first connecting line L1 formed by the first standard coordinate A and the second standard coordinate B and a second connecting line L2 formed by the first temporary coordinate M and the second temporary coordinate N.
Further, the battery string transfer line includes a first battery string transfer line and a second battery string transfer line that are located in both sides of the robot, from which the robot alternately moves the battery string.
Further, the alignment mechanism comprises a first alignment mechanism and a second alignment mechanism which are positioned on two sides of the robot.
Further, the camera comprises a first camera and a second camera, and the first camera and the second camera respectively shoot two ends of the battery string.
Further, a light source for illuminating the camera is arranged below the camera.
On the other hand, the invention also provides a battery string typesetter, which is characterized in that: the battery string typesetting machine comprises a robot, a glass panel, a battery string conveying line for conveying the battery string and a control system for controlling the robot to operate.
Further, the battery string typesetter also comprises a glass panel conveying mechanism, and the glass panel conveying mechanism conveys and positions the glass panels.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the robot can directly move the battery string from the battery string conveying line to the glass panel, and the robot does not need to stay at the position of the alignment mechanism, so that the production efficiency is greatly improved;
2. according to the invention, the robots correspond to the two battery string conveying lines, and can alternately carry and typeset the battery strings on the two battery string conveying lines, so that the production efficiency is improved, the number of robots can be reduced, and the enterprise cost is reduced;
3. according to the invention, the control system calculates the difference value through the two groups of corresponding points, so that the calculation is simple and convenient, and the calculation speed is higher.
Drawings
Fig. 1 is a schematic diagram of detecting a position of a battery string in the related art.
Fig. 2 is a top view of the typesetter of the present invention.
Fig. 3 is a schematic view of a glass panel conveying mechanism according to the present invention.
Fig. 4 is a schematic view of the positions of the robot and the glass panel conveying mechanism in the present invention.
FIG. 5 is a schematic view of an alignment mechanism according to the present invention.
Fig. 6 is a schematic diagram of the difference calculation in the present invention.
Detailed Description
The technical scheme of the present invention is further described in non-limiting detail below with reference to the preferred embodiments and the accompanying drawings.
As shown in fig. 2, a battery string typesetter according to a preferred embodiment of the present invention includes a glass panel conveying mechanism 10, a first battery string conveying line 11, a second battery string conveying line 12, a robot 13, a first alignment mechanism 14, and a second alignment mechanism 15.
As shown in fig. 3, the glass panel conveying mechanism 10 is generally provided with a belt line 101 for conveying the glass panel 100, a lifting assembly 102 for lifting the glass panel 100, and a righting assembly 103 for fixing the glass panel 100 after lifting. The normalization component 103 can fix and position the glass panel 100 to improve the accuracy of subsequent battery string typesetting. The glass panel conveying mechanism 10 described above may refer to a glass panel conveying mechanism in the related art, and the structure thereof will not be described in detail here.
The first battery string conveying line 11 and the second battery string conveying line 12 are connected with the string welding machine and are used for conveying the battery strings 1, the first battery string conveying line 11 and the second battery string conveying line 12 are respectively located at two sides of the robot 13, when the battery strings 1 are conveyed to a specific position, the conveying line stops conveying, the specific position can be determined by a photoelectric sensor, and when the photoelectric sensor detects the battery strings 1, the conveying line is controlled to stop running through a control system. The specific position is preferably a position close to the robot 13 to reduce the movement distance of the robot 13 and speed up the production.
The robot 13 is configured to convey the battery strings 1 conveyed on the first battery string conveyance line 11 and the second battery string conveyance line 12 onto the glass panel 100, and sequentially arrange the battery strings. The first alignment mechanism 14 and the second alignment mechanism 15 are respectively located at both sides of the glass panel conveying mechanism 10 for confirming the position of the battery string 1 during the movement of the battery string 1. In this embodiment, the first battery string conveying line 11 and the first alignment mechanism 14 are located on the same side, and the second battery string conveying line 12 and the second alignment mechanism 15 are located on the same side.
As shown in fig. 4, the robot 13 is preferably an industrial robot, and has a plurality of joints, and a plurality of suction cups 130 for sucking the battery string 1 are provided at the front end thereof, and the suction cups 130 generate suction force by a vacuum generator or the like, so that the battery string 1 can be sucked and moved by the robot 13.
As shown in fig. 5, the first aligning mechanism 14 includes a bracket 140, and a first photographing assembly 141 and a second photographing assembly 145 which are disposed on the bracket 140 at intervals. The first photographing assembly 141 includes a first camera 142 and a first light source 143 disposed opposite one another up and down, the first light source 143 being illuminated to the first camera 142, there being a space between the first light source 143 and the first camera 142 that can accommodate the battery string 1. The first camera 142 is an industrial camera capable of precisely capturing the battery strings 1 located within the illumination range thereof.
The second photographing assembly 145 is identical to the first photographing assembly 141 in structure, and includes a second camera 146 and a second light source 147 disposed opposite to each other up and down, and the second light source 147 irradiates the second camera 146. Preferably, the second camera 146 and the first camera 142 are located at the same height, and the second light source 147 is located at the same height as the first light source 143.
The first light source 143 and the second light source 147 are preferably LED flat lamps, so that the camera can capture clear outlines of the battery string 1.
The second alignment mechanism 15 has the same structure as the first alignment mechanism 14, and will not be described here again.
Taking the typesetting machine as an example, a typesetting method is introduced, and the typesetting method is as follows:
step 1: the glass panel conveying mechanism 10 conveys the glass panel 100; and the glass panel 100 is fixed by the righting component 103;
step 2: the robot 13 sucks the battery string 1 on the first battery string conveying line 11 according to a preset track, and moves the battery string 1 to the first alignment mechanism 14 for photographing; the control system calculates the difference between the temporary position of the shot battery string 1 and the stored standard position, and modifies the movement track according to the difference;
step 3: the robot 13 moves the battery string 1 to the glass panel 100 according to the modified movement track;
step 4: the robot 13 sucks the battery string 1 on the second battery string conveying line 12 according to a preset track and moves the battery string 1 to the second alignment mechanism 15 for photographing; the control system calculates the difference between the temporary position of the shot battery string 1 and the stored standard position, and modifies the movement track according to the difference;
step 5: the robot 13 moves the battery string 1 to the glass panel 100 according to the modified movement track;
the steps 2 to 5 are repeated, and the battery strings 1 are alternately sucked from the first battery string transfer line 11 and the second battery string transfer line 12 and arranged on the glass panel 100.
In the above steps, the preset track may be a track calculated according to a structure, or may be a track obtained online through teaching. When the teaching is on-line, the robot 13 is controlled manually to move the battery string 1 to the first alignment mechanism 14 (or the second alignment mechanism 15) and record that the position of the battery string 1 is the standard position 16, and then the robot 13 is controlled manually to move the battery string 1 to the glass panel 100.
In the above step 2, when both ends (the first end 1a and the second end 1 b) of the battery string 1 are located within the photographing ranges of the first camera 142 and the second camera 146, respectively, the cameras are triggered to photograph. The trigger position may also be determined by the position of the robot 13, i.e. when the robot 13 moves to this position, the camera is triggered to take a picture.
The control system may be an industrial personal computer or a computer, etc., which can perform calculation according to the result photographed by the camera and control the robot 13 to move.
As shown in fig. 6, in general, the standard position 16 may be determined by coordinates of two points, such as a first standard coordinate a (X0, Y0) and a second standard coordinate B (X1, Y1), then a first temporary coordinate M (X6, Y6) and a second temporary coordinate N (X7, Y7) are calculated according to a picture taken by a camera, and then a coordinate difference Δp (Δx, Δy, θ) between the two corresponding points (i.e., the first standard coordinate a and the first temporary coordinate M or the second standard coordinate B and the second temporary coordinate N) may be obtained by a simple mathematical calculation; Δy is the deviation in Y-direction between two corresponding points; θ is an offset angle between the battery string 1 and the standard position, namely an included angle between a first connecting line L1 and a second connecting line L2, wherein the first connecting line L1 is a connecting line of a first standard coordinate a and a second standard coordinate B, and the second connecting line L2 is a connecting line of a first temporary coordinate M and a second temporary coordinate N. By modifying the motion trajectory of the subsequent robot 13 according to the difference Δp, a high positional accuracy can be achieved. It is easily understood that the coordinate difference may also be the difference between the second standard coordinate B and the second temporary coordinate N.
For simplicity of calculation, the first standard coordinate a may be selected as a midpoint of the long side of the battery string 1, and the second standard coordinate B may be selected as a center position of the battery string 1. When determining these two positions, the left midpoint C (X2, Y2), the left vertex D (X3, Y3), the right midpoint E (X4, Y4), and the right vertex F (X5, Y5) can be photographed by the first camera 142 and the second camera 146. Then X0 is (X3+X5)/2; y0 is (Y3+Y5)/2; x1 is (X2+X4)/2; y1 is (Y2+Y4)/2, thereby obtaining a first standard coordinate A (X0, Y0) and a second standard coordinate B (X1, Y1). The first temporary coordinates M (X6, Y6) and the second temporary coordinates N (X7, Y7) are determined in a manner similar to the above manner, and are not repeated here.
It should be noted that the robot 13 does not need to stay in moving the battery string 1 from the battery string conveyance line to the glass panel 100, that is, the battery string 1 passes through only the first alignment mechanism 14 (or the second alignment mechanism 15), and does not need to stay at the first alignment mechanism 14 (or the second alignment mechanism 15) to wait for shooting. The battery string 1 will take a picture when passing through the first alignment mechanism 14 (or the second alignment mechanism 15), and the control system will modify the subsequent movement track in real time, and the robot 13 will adjust the posture during the movement, so as to arrange the battery string 1 on the glass panel 100.
Obviously, since the robot 13 does not need to stay during the process of conveying the battery string 1, it has higher production efficiency compared with the prior art. Meanwhile, the conveying speed is improved, so that the battery strings are conveyed from the first battery string conveying line 11 and the second battery string conveying line 12 alternately more rapidly, and one robot 13 can lay out the battery strings produced by two series welding machines. Preferably, the first battery string conveyance line 11 and the second battery string conveyance line 12 convey battery strings alternately so as to coincide with the conveyance beats of the robot 13.
It should be noted that, although the typesetting method is described above by taking the typesetting machine having the first battery string conveying line 11 and the second battery string conveying line 12 as an example, it is to be understood that the typesetting method is equally applicable to typesetting machines having only one battery string conveying line.
The invention has at least the following advantages:
1. according to the invention, the robot can directly move the battery string from the battery string conveying line to the glass panel, and the robot does not need to stay at the position of the alignment mechanism, so that the production efficiency is greatly improved;
2. according to the invention, the robots correspond to the two battery string conveying lines, and can alternately carry and typeset the batteries on the two battery string conveying lines, so that the production efficiency is improved, the number of robots can be reduced, and the enterprise cost is reduced;
3. according to the invention, the control system calculates the difference value through the two groups of corresponding points, so that the calculation is simple and convenient, and the calculation speed is higher.
It should be noted that the foregoing description of the preferred embodiments is merely illustrative of the technical concept and features of the present invention, and is not intended to limit the scope of the invention, as long as the scope of the invention is defined by the claims and their equivalents. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.

Claims (4)

1. A battery string typesetting method comprises the following steps: the method is characterized by further comprising the following steps of:
providing an alignment mechanism, wherein the alignment mechanism comprises a first camera (142) and a second camera (146), and the first camera (142) and the second camera (146) respectively shoot two ends of the battery string (1);
the robot (13) moves the battery string (1) from the battery string conveying line to the glass panel (100), the battery string (1) passes through the alignment mechanism and is photographed by the camera in the moving process, and the battery string does not need to stay in the moving process;
the control system obtains a temporary position (17) of the battery string (1) according to a photo shot by a camera, and obtains a difference value between the temporary position (17) and a standard position (16) by comparing the temporary position with the standard position (16) pre-stored in the control system;
the control system modifies the subsequent motion trail of the robot (13) according to the difference value and controls the robot to move from the alignment mechanism to the glass panel (100);
the difference value comprises an X-direction coordinate deviation, a Y-direction coordinate deviation and an angle deviation; the X-direction coordinate deviation is the deviation of X-direction between the standard position (16) and two corresponding points on the temporary position (17); the Y-direction coordinate deviation is the Y-direction deviation between the standard position (16) and two corresponding points on the temporary position (17); the angle deviation is an included angle between a first connecting line L1 formed by a first standard coordinate A and a second standard coordinate B and a second connecting line L2 formed by a first temporary coordinate M and a second temporary coordinate N;
the first standard coordinate A is selected as the midpoint of the long side of the battery string (1), the second standard coordinate B is selected as the center position of the battery string (1), the left midpoint C (X2, Y2), the left vertex D (X3, Y3), the right midpoint E (X4, Y4) and the right vertex F (X5, Y5) are obtained through shooting by the first camera (142) and the second camera (146) when the two positions are determined, and then X0 is (X3+X5)/2; y0 is (Y3+Y5)/2; x1 is (X2+X4)/2; y1 is (Y2+Y4)/2, so that the first standard coordinate A (X0, Y0) and the second standard coordinate B (X1, Y1) can be obtained; determining the first temporary coordinates M (X6, Y6) and the second temporary coordinates N (X7, Y7) in a similar manner;
the standard position (16) determines the first standard coordinate A (X0, Y0) and the second standard coordinate B (X1, Y1) through coordinates of two points, then calculates the first temporary coordinate M (X6, Y6) and the second temporary coordinate N (X7, Y7) according to pictures obtained by shooting by a camera, and then calculates a coordinate difference value delta P (delta X, delta Y, theta) between the two corresponding points through mathematical calculation, wherein delta X is the deviation of X direction between the two corresponding points; Δy is the deviation in Y-direction between two corresponding points; θ is an offset angle between the battery string (1) and the standard position, the offset angle is an included angle between a first connecting line L1 and a second connecting line L2, wherein the first connecting line L1 is a connecting line of a first standard coordinate a and a second standard coordinate B, the second connecting line L2 is a connecting line of a first temporary coordinate M and a second temporary coordinate N, and a subsequent motion track of the robot (13) is modified according to the difference value Δp.
2. The battery string typesetting method according to claim 1, wherein: the battery string conveying line comprises a first battery string conveying line (11) and a second battery string conveying line (12) which are positioned at two sides of the robot (13), and the robot (13) alternately moves the battery strings (1) from the first battery string conveying line (11) and the second battery string conveying line (12).
3. The battery string typesetting method according to claim 2, wherein: the alignment mechanism comprises a first alignment mechanism (14) and a second alignment mechanism (15) which are positioned on two sides of the robot (13).
4. The battery string typesetting method according to claim 1, wherein: a light source for illuminating the camera is also arranged below the camera.
CN201910064395.4A 2019-01-23 2019-01-23 Battery string typesetting method and battery string typesetting machine applying same Active CN109585611B (en)

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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
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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Publication number Priority date Publication date Assignee Title
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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