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

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

A battery string typesetting method and a battery string typesetting machine using the method

Technical Field

The present invention relates to the technical field of typesetting, and in particular to a battery string typesetting method and a battery string typesetting machine using the typesetting method.

Background technique

In the production process of photovoltaic cells, multiple connected photovoltaic cell strings need to be arranged on the tempered glass paved with EVA as required for connection. Usually, the position accuracy of the battery strings is required to be high. The traditional typesetting method is manual operation, which requires arranging the solar cell strings on the substrate in order. This method is not only low in labor efficiency, but also difficult to guarantee accuracy, and requires high skills of the operators. Moreover, photovoltaic cell strings are fragile, so there are many problems with manual operation.

At present, equipment that can automatically arrange battery strings has appeared. For example, the invention patent application with publication number CN 108529219 A discloses a robot typesetting machine that transfers the battery strings on the conveyor belt line to the glass panel through a transport robot. Arrange on top. The conveyor belt line is connected to the stringer and is used to deliver the battery strings processed at the stringer to the vicinity of the transport robot.

Since the battery strings transported through the conveyor belt line have not been accurately positioned, their positions, angles, etc. may have certain differences. It is difficult to ensure that the positions of the battery strings transported are consistent each time. Therefore, the robot will move the battery strings according to the preset trajectory. When the battery string is transported to the glass panel, it is difficult to ensure the position accuracy of the battery string placement.

To solve this problem, the following method is usually adopted in the prior art. As shown in FIG. 1 , the prior art is provided with a light-transmitting workbench 4 and a light source 2 and a detection camera 3 located on both sides of the light-transmitting workbench 4 . Specifically, the light source 2 is placed below the light-transmitting workbench 4 , and the detection camera 3 is placed above the light-transmitting workbench 4 . The detection camera 3 is used to collect the backlight image of the corresponding position on the battery string 1 . After the robot picks up the battery string from the conveyor belt line, it places it on the light-transmitting workbench 4. The camera 3 detects the position of the battery string. The control system compares the position of the battery string 1 captured by the camera 3 with the stored standard position. Calculate the corresponding difference. Then, the control system controls the robot to adjust its posture according to the difference to compensate for the difference, then absorbs the battery string 1, and then places it on the glass panel according to the preset trajectory.

The problem with the above technical solution is that, firstly, when the transport robot transports the battery string to the glass panel, it is necessary to first place the battery string on a light-transmitting workbench and take a picture, and then adjust the position of the transport robot according to the detection result before sucking the battery string and placing it on the glass panel for arrangement. This waiting time is not conducive to improving production capacity and seriously affects production efficiency; secondly, the current solar cell string layout basically adopts the method of one typesetting machine corresponding to one string welding machine. The cost of the robot is very high. When the output is large, more robots are needed, which is not conducive to the company to reduce production costs; thirdly, after long-term use, the light-transmitting workbench will age and wear, thereby affecting the accuracy.

Contents of the invention

The purpose of the present invention is to address the above-mentioned defects in the prior art and provide a battery string layout method and a battery string layout machine using the layout method, which can move the battery string to the glass panel without stopping, thereby improving production efficiency.

In order to achieve the above object, the present invention provides a battery string layout method, which includes the following steps: providing a robot, a glass panel, a battery string, a battery string conveying line for transporting the battery string, and a control system for controlling the operation of the robot. , the battery string layout method also includes the following steps:

Provide an alignment mechanism, the alignment mechanism including 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 during movement and is photographed by the camera;

The control system obtains the temporary position of the battery string based on the photos taken by the camera, and compares it with the standard position pre-stored in the control system to obtain the difference between the temporary position and the standard position;

The control system modifies the subsequent motion trajectory of the robot according to the difference, 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 first temporary coordinate M corresponding to the second standard position B. The second temporary coordinate N.

Further, the first standard coordinate A and the first temporary coordinate M correspond to the midpoint of the long side of the battery string, and the second standard coordinate B and the second temporary coordinate N correspond to the center point of the battery string. center point.

Further, the difference includes X-direction coordinate deviation, Y-direction coordinate deviation and angular deviation; the X-direction coordinate deviation is the X-direction deviation between the two corresponding points on the standard position and the temporary position; The Y-direction coordinate deviation is the Y-direction deviation between the two corresponding points on the standard position and the temporary position; the angular deviation is the first connection formed by the first standard coordinate A and the second standard coordinate B. The angle between line L1 and the second connecting line L2 formed by the first temporary coordinate M and the second temporary coordinate N.

Further, the battery string conveying line includes a first battery string conveying line and a second battery string conveying line located on both sides of the robot, and the robot alternately transports the battery string from the first battery string conveying line and the second battery string conveying line. Conveyor lines move battery strings.

Further, the positioning mechanism includes a first positioning mechanism and a second positioning mechanism located on both sides of the robot.

Further, the camera includes a first camera and a second camera, and the first camera and the second camera respectively photograph both ends of the battery string.

Further, a light source directed toward the camera is provided below the camera.

On the other hand, the present invention also proposes a battery string typesetting machine, which is characterized in that it uses the above-mentioned battery string typesetting method to perform typesetting. The battery string typesetting machine includes a robot, a glass panel, a battery string, and a device for transporting the battery string. The battery string conveyor line and the control system that controls the operation of the robot.

Further, the battery string typesetting machine further includes a glass panel conveying mechanism, which conveys and positions the glass panel.

Compared with the existing technology, the advantages of the present invention are:

1. In the present invention, the robot can directly move the battery string from the battery string conveying line to the glass panel without stopping at the alignment mechanism, which greatly speeds up production efficiency;

2. The robot in the present invention corresponds to two battery string conveying lines and can alternately carry and layout the battery strings on the two battery string conveying lines. This not only improves production efficiency, but also reduces the number of robots and reduces enterprise costs. ;

3. In the present invention, the control system calculates the difference through two sets of corresponding points, which is easy to calculate and faster.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of detecting the position of a battery string in the prior art.

FIG. 2 is a top view of the typesetting machine of the present invention.

Figure 3 is a schematic structural diagram of the glass panel conveying mechanism in the present invention.

Figure 4 is a schematic diagram of the positions of the robot and the glass panel conveying mechanism in the present invention.

Figure 5 is a schematic diagram of the alignment mechanism in the present invention.

Figure 6 is a schematic diagram of difference calculation in the present invention.

Detailed ways

The technical solution of the present invention will be described in further non-limiting detail in conjunction with the preferred embodiments and the accompanying drawings.

As shown in FIG. 2 , a battery string typeset machine corresponding 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 .

Among them, as shown in Figure 3, the glass panel conveying mechanism 10 is usually provided with a belt line 101 for conveying the glass panel 100, a lifting assembly 102 for lifting the glass panel 100, and a normalizing assembly 103 for fixing the glass panel 100 after being lifted. . The straightening assembly 103 can fix and position the glass panel 100 to improve the accuracy of subsequent battery string layout. The above-mentioned glass panel conveying mechanism 10 may refer to the glass panel conveying mechanism in the prior art, and its structure will not be described in detail here.

The first battery string conveying line 11 and the second battery string conveying line 12 are connected to the string welding machine for conveying the battery string 1. The first battery string conveying line 11 and the second battery string conveying line 12 are respectively located on both sides of the robot 13. , when the battery string 1 is transported to a specific position, the conveyor line stops transporting. The specific position can be determined by the photoelectric sensor. When the photoelectric sensor detects the battery string 1, the control system controls the conveyor line to stop running. The specific position is preferably close to the robot 13 in order to reduce the movement distance of the robot 13 and speed up production.

The robot 13 is used to transport the battery strings 1 transported on the first battery string conveying line 11 and the second battery string conveying line 12 to the glass panel 100 and arrange them in sequence. The first positioning mechanism 14 and the second positioning mechanism 15 are respectively located on both sides of the glass panel transport mechanism 10 and are used to confirm the position of the battery string 1 during the movement of the battery string 1 . In this embodiment, the first battery string transportation line 11 and the first alignment mechanism 14 are located on the same side, and the second battery string transportation line 12 and the second alignment mechanism 15 are located on the same side.

As shown in Figure 4, the robot 13 is preferably an industrial robot with multiple joints, and a plurality of suction cups 130 for adsorbing the battery string 1 are provided at its front end. The suction cups 130 generate adsorption force through a vacuum generator or other devices, and can adsorb the batteries. string 1, thereby moving the battery string 1 driven by the robot 13.

As shown in FIG. 5 , the first alignment mechanism 14 includes a bracket 140 and a first shooting component 141 and a second shooting component 145 spaced apart on the bracket 140 . The first photographing component 141 includes a first camera 142 and a first light source 143 arranged oppositely up and down. The first light source 143 illuminates the first camera 142 . There is 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 and can accurately capture the battery string 1 within its illumination range.

The second photographing component 145 has the same structure as the first photographing component 141 and includes a second camera 146 and a second light source 147 arranged oppositely up and down. The second light source 147 illuminates 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 and the first light source 143 are located at the same height.

The first light source 143 and the second light source 147 are preferably LED flat lights, which can enable the camera to capture a clear outline 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 again here.

The following takes the above typesetting machine as an example to introduce its typesetting method. The typesetting method is as follows:

Step 1: The glass panel transport mechanism 10 transports the glass panel 100; and fixes the glass panel 100 through the straightening assembly 103;

Step 2: The robot 13 picks up the battery string 1 on the first battery string conveyor line 11 according to a preset trajectory, and moves it to the first alignment mechanism 14 for photographing; the control system calculates the difference between the photographed temporary position of the battery string 1 and the stored standard position, and modifies the subsequent movement trajectory according to the difference;

Step 3: The robot 13 moves the battery string 1 to the glass panel 100 according to the modified movement trajectory;

Step 4: The robot 13 picks up the battery string 1 on the second battery string conveying line 12 according to the preset trajectory, and moves it to the second alignment mechanism 15 for taking pictures; the control system calculates the temporary position of the photographed battery string 1. The difference between the position and the stored standard position, and the movement trajectory after modification based on the difference;

Step 5: the robot 13 moves the battery string 1 to the glass panel 100 according to the modified moving trajectory;

Repeat the above steps 2 to 5 to alternately pick up the battery strings 1 from the first battery string transportation line 11 and the second battery string transportation line 12 and arrange them on the glass panel 100 .

In the above steps, the preset trajectory can be a trajectory calculated based on the structure, or a trajectory calculated online through teaching. When using the online teaching method, you can first move the battery string 1 to the first alignment mechanism 14 (or the second alignment mechanism 15) through the manual control robot 13, and record the position of the battery string 1 at this time as the standard position. 16. Then the robot 13 is manually controlled to move the battery string 1 to the glass panel 100 .

In the above step 2, when the two ends (the first end 1a and the second end 1b) of the battery string 1 are respectively located within the shooting range of the first camera 142 and the second camera 146, the camera is triggered to take a picture. The trigger position can also be determined by the position of the robot 13, that is, when the robot 13 moves to this position, the camera is triggered to take a picture.

The control system may be an industrial computer or a computer, etc., which can perform calculations based on the results captured by the camera and control the movement of the robot 13 .

As shown in FIG6 , usually, the standard position 16 can be determined by the coordinates of two points, such as the first standard coordinate A (X0, Y0) and the second standard coordinate B (X1, Y1), and then the first temporary coordinate M (X6, Y6) and the second temporary coordinate N (X7, Y7) are calculated according to the picture taken by the camera, and then the 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) can be obtained by simple mathematical calculation, where ΔX is the deviation in the X direction between the two corresponding points; ΔY is the deviation in the Y direction between the two corresponding points; θ is the deflection angle between the battery string 1 and the standard position, i.e., the angle between the first connecting line L1 and the second connecting line L2, where the first connecting line L1 is the connecting line of the first standard coordinate A and the second standard coordinate B, and the second connecting line L2 is the connecting line of the first temporary coordinate M and the second temporary coordinate N. By modifying the subsequent motion trajectory of the robot 13 according to the above difference ΔP, a very high position accuracy can be achieved. It is easy to understand that the coordinate difference can 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 can be selected as the midpoint of the long side of the battery string 1, and the second standard coordinate B can be selected as the 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). Then X0 is (X3+X5)/2; Y0 is (Y3+Y5)/2; X1 is (X2+X4)/2; Y1 is (Y2+Y4)/2, so we can get the One standard coordinate A (X0, Y0) and a second standard coordinate B (X1, Y1). The method of determining the first temporary coordinate M (X6, Y6) and the second temporary coordinate N (X7, Y7) is similar to the above method and will not be described again here.

It should be pointed out that the robot 13 does not need to stop when moving the battery string 1 from the battery string conveying line to the glass panel 100, that is, the battery string 1 only passes through the first alignment mechanism 14 (or the second alignment mechanism 15). There is no need to stop at the first alignment mechanism 14 (or the second alignment mechanism 15) to wait for shooting. When the battery string 1 passes through the first alignment mechanism 14 (or the second alignment mechanism 15), the camera will take a picture, and the control system will immediately modify the subsequent movement trajectory. During the movement, the robot 13 will adjust its posture to move the battery string. 1 is arranged on the glass panel 100.

Obviously, since the robot 13 does not need to stay during the transportation of the battery string 1, it has higher production efficiency compared with the existing technology. At the same time, due to the increased transport speed, it is also faster to alternately transport battery strings from the first battery string conveyor line 11 and the second battery string conveyor line 12. One robot 13 can layout two string welders. Battery string produced by machine. Preferably, the first battery string conveying line 11 and the second battery string conveying line 12 alternately convey the battery strings to match the transport rhythm of the robot 13 .

It should be pointed out that although the typesetting method is introduced above by taking the typesetting machine with the first battery string conveying line 11 and the second battery string conveying line 12 as an example, it is easy to understand that this typesetting method is not suitable for a typesetting machine with only one battery string conveying line. The same applies to line typesetters.

The present invention at least has the following advantages:

1. In the present invention, the robot can directly move the battery string from the battery string conveying line to the glass panel without stopping at the alignment mechanism, which greatly speeds up production efficiency;

2. The robot in the present invention corresponds to two battery string conveyor lines, and can alternately carry and layout the batteries on the two battery string conveyor lines, which not only improves production efficiency, but also reduces the number of robots and reduces enterprise costs;

3. In the present invention, the control system calculates the difference through two sets of corresponding points, which is easy to calculate and faster.

It should be pointed out that the above-mentioned preferred embodiments only illustrate the technical concepts and characteristics of the present invention. Their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly, and cannot limit the scope of the present invention in this way. protected range. All equivalent changes or modifications made based on the spirit and essence of the present invention should be included in the protection 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.