CN111463156A - Battery pack feeding method, battery pack feeding system and high-temperature cloth conveyor belt convenient for visual system identification - Google Patents
Battery pack feeding method, battery pack feeding system and high-temperature cloth conveyor belt convenient for visual system identification Download PDFInfo
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- CN111463156A CN111463156A CN201910874811.7A CN201910874811A CN111463156A CN 111463156 A CN111463156 A CN 111463156A CN 201910874811 A CN201910874811 A CN 201910874811A CN 111463156 A CN111463156 A CN 111463156A
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- 239000004744 fabric Substances 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000000007 visual effect Effects 0.000 title claims description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 238000010030 laminating Methods 0.000 claims description 9
- 238000003475 lamination Methods 0.000 claims description 7
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- 238000004891 communication Methods 0.000 claims description 2
- 230000002950 deficient Effects 0.000 abstract description 3
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- 230000007547 defect Effects 0.000 abstract description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 21
- 239000000741 silica gel Substances 0.000 description 21
- 229910002027 silica gel Inorganic materials 0.000 description 21
- 239000011521 glass Substances 0.000 description 9
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- 229920006362 Teflon® Polymers 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 5
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 229910052710 silicon Inorganic materials 0.000 description 4
- 239000010703 silicon Substances 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
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- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
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- 238000007731 hot pressing Methods 0.000 description 1
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- 230000001629 suppression Effects 0.000 description 1
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/67742—Mechanical parts of transfer devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67739—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations into and out of processing chamber
- H01L21/6776—Continuous loading and unloading into and out of a processing chamber, e.g. transporting belts within processing chambers
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- H01L31/048—
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- H01L31/1876—
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention aims to overcome the defects that a charging basket is adopted to transmit a battery assembly in the prior art, the assembly is easy to collide and dislocate with a corner frame in the transmission process, and the assembly is damaged and dislocated in the transmission process to cause defective products, and provides a battery assembly feeding method, a feeding system and a high-temperature cloth conveyor belt convenient for a vision system to identify, wherein the battery assembly feeding method, the feeding system and the high-temperature cloth conveyor belt convenient for the vision system to identify comprise a high-temperature cloth body, at least one jig is arranged on the upper surface of the high-temperature cloth body, each jig is flexible and strip-shaped, the jig divides the high-temperature cloth into a plurality of areas, the color of at least the edge of the strip of the jig is different from the color of the high-temperature cloth, the high-temperature cloth conveyor belt and the feeding system convenient for the vision system to identify are adopted, the battery assembly can be placed in a space formed, even if the jig has a little displacement in the conveying process, the jig cannot generate hard collision on the battery pack, and the battery pack is not easy to damage.
Description
Technical Field
The invention relates to a solar cell module feeding device and a feeding method, in particular to a double-glass solar cell module feeding system and a feeding method and all high-temperature cloth conveying belts.
Background
In the production of the assembly, the assembled solar cell assembly needs to be transmitted through a feeding workbench and is transmitted into a vacuum chamber of a laminating machine to finish vacuum lamination and packaging, in the packaging of a thick cell assembly such as a double-wave assembly, because the cell assembly is thicker, the thickness of the cell assembly is generally more than 6mm, when the cell assembly is laminated by adopting a conventional vacuum hot-pressing method, a silica gel plate positioned in an upper vacuum chamber acts on the cell assembly under atmospheric pressure, and because the acting force of the silica gel plate can be concentrated at the corners of the cell assembly, steam bubbles at the corners of the assembly are difficult to discharge, folds of the silica gel plate are enlarged, the yield of the assembly is reduced, and the service life of the silica gel plate is reduced by more than 50%; in order to solve the problem, the conventional processing mode is to place a frame or a corner piece, the assembly is arranged in the corner frame or the corner piece, the pressure of the silicon corner plate is concentrated on the corner frame or the corner piece, and the air bubble discharge capacity of the corner of the assembly is improved. Meanwhile, each battery assembly needs to be provided with a frame or a group of corners, so that the labor intensity is increased.
In addition, because when carrying out vacuum curing heating pressurization to dual glass assembly among the prior art, dual glass assembly is by the direct lamination intracavity that enters into high temperature of low temperature environment, and the temperature in lamination chamber generally reaches more than 100 degrees centigrade, because of dual glass assembly is thicker, its suddenly is heated, heat-conduction inhomogeneous consequently easily causes dual glass assembly warpage, can cause the defective products equally.
Disclosure of Invention
The invention aims to provide a battery component feeding method, a feeding system and a high-temperature cloth conveyor belt convenient for a visual system to identify, aiming at the defects that in the prior art, a charging basket is adopted to convey a battery component, the component is easy to collide and dislocate with a corner frame in the conveying process, the component is damaged in the conveying process, the component is easy to dislocate due to the collision of a metal frame and the component, the edge of the component is not neat, and defective products are easy to cause.
The purpose of the invention is realized by the following technical scheme:
the high-temperature cloth conveyor belt convenient for the visual system to identify comprises a high-temperature cloth body, wherein at least one jig is arranged on the upper surface of the high-temperature cloth body, each jig is flexible and in a strip shape, the jig divides the high-temperature cloth into a plurality of areas, and the color of at least the edge of each strip of the jig is different from that of the high-temperature cloth;
the jig is arranged along the length direction and/or the width direction of the high-temperature cloth body;
the jigs are grouped in pairs, and the strips in each group of jigs are arranged in parallel at certain intervals;
the cross section of the jig is arc-shaped, elliptic arc-shaped or triangular, or the jig comprises a connecting belt (106), and arc-shaped bulges (107) are respectively arranged on two sides of the connecting belt along the length direction of the connecting belt.
The utility model provides a battery pack feeding system, including setting up transmission platform (2) on frame (500), be provided with high temperature cloth conveyer belt on the transmission platform, high temperature cloth conveyer belt removes on transmission platform, a serial communication port, still include manipulator and the visual system who comprises position collection device (300), image processing system and control system, be provided with crossbeam (201) along battery pack's direction of delivery above the transmission platform, position collection device includes the image pickup device, image pickup device and manipulator setting can follow the length direction reciprocating motion of crossbeam on the crossbeam, adopt one of claims 1-4 high temperature cloth conveyer belt, control system and image processing system electric signal connection, the position information of strip border or strip corner on the high temperature cloth conveyer belt is discerned by the visual system, control system controls the manipulator to remove on the crossbeam according to the position information control manipulator of strip border or strip corner that image recognition system discerned (ii) a
The manipulator and the image shooting device synchronously move on the beam;
a plurality of thimble holes (603) which are vertical to the transmission platform are arranged on the transmission platform, thimbles (602) are vertically arranged in the thimble holes, a thimble driving device is arranged below the transmission platform, and the output end of the thimble driving device is connected with the lower end of the thimble;
the thickness of the jig is equal to or slightly lower than the height of the battery component;
a battery pack feeding method is characterized in that a vision system obtains and stores a standard position of a battery pack on a high-temperature cloth conveying belt, when the high-temperature cloth conveying belt reaches a position for receiving the battery pack, the vision system identifies a position mark on the high-temperature cloth conveying belt and compares the position mark with the stored standard position to calculate the moving distance of a manipulator, and a control system controls the moving distance calculated by the vision system to control the manipulator to move to a corresponding position.
A method for loading battery components includes such steps as laying a strip-shaped fixture on a high-temp cloth conveyer to obtain the position markers of battery components, recognizing the positions of two adjacent edges at the end of strip by visual system, calculating the distance to be moved by manipulator, and conveying the battery components to laminator by high-temp cloth conveyer to complete lamination.
By adopting the high-temperature cloth conveyor belt and the feeding system with the structure, the feeding system is provided with the high-temperature cloth conveyor belt, the high-temperature cloth conveyor belt is fixedly provided with the strip-shaped jig, the strip is made of flexible materials, the strip-shaped jig divides the high-temperature cloth conveyor belt into a plurality of areas for accommodating the battery component, the battery component can be placed in a space formed by the jig, when the battery component is conveyed, the battery component is limited by the jig, and the jig is made of the flexible materials, so that the jig cannot generate hard collision on the battery component even if the battery component is slightly shifted in the conveying process, the battery component is not easily damaged, the flexible frame and the component collide to cause impact force on the component, the component is not easily dislocated to cause unqualified products, and the yield of the component is improved; in addition, after the battery pack was transmitted the vacuum chamber of laminator by high temperature cloth at the in-process of suppression, because the strip of tool is flexible, can not hinder the silica gel board to exert pressure to the battery pack when giving certain holding power to the silica gel board, the pressure of dispersible silicon scute to the battery pack corner promotes its bubble to get rid of simultaneously, prevents that the bubble gathering is favorable to the improvement of battery pack overall quality in the corner of battery pack.
The method is adopted for feeding, and the strip with larger color difference with the high-temperature cloth conveyor belt is arranged on the high-temperature cloth conveyor belt, so that the position where the battery assembly needs to be placed can be conveniently identified by a vision system, and the position difference between the placing position of the battery assembly and the standard placing position every time is calculated by the vision system, so that the manipulator is controlled to move by a corresponding distance, the position difference of the battery assembly every time is made up, the battery assembly is accurately placed in the space formed by the jig, the position of the battery assembly in the moving direction is limited by the jig, the battery assembly is more stable in conveying and is not easy to misplace; simultaneously, by the tool spacing when suppressing battery pack, battery pack is supported by flexible tool, consequently, the pressure of dispersible silicon scute to the battery pack corner promotes its bubble to get rid of simultaneously, and the battery pack shaping is better. Simplifies the process and improves the yield.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a dual glass assembly feeding system and a high temperature cloth conveyor belt for easy identification by a vision system according to the present invention;
FIG. 2 is a schematic structural view of an embodiment of a robot for a dual glass assembly loading system of the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a jacking device;
FIG. 4 is a schematic cross-sectional view of an embodiment of a jig;
fig. 5 and 6 are schematic structural views of embodiments in which the jigs are distributed on the high-temperature cloth.
Description of the reference numerals
1 battery assembly 2-transmission platform solar battery assembly
100-pull rod
101-jig 102-strip 103-annular sleeve 104-core strip 105-high-temperature cloth conveyor belt
200-manipulator 202-longitudinal beam 203-gripping device 204-frame 205-clamping jaw 206-reciprocating driving device 207-claw finger 208-clamping groove 209-frame two 210-cross beam 211-rack one 212-driving motor one 213-driving motor two 214-rack two 215-longitudinal axis driving device 216-X axis driving device 217-guiding device two 218-sliding rail one 219-sliding rail two 220-fixing plate
300-position acquisition device 301-upright post 302-cross post 303-bracket
400-material transfer device
500-frame
601-thimble driving device 602-thimble 603-thimble hole
Detailed Description
The invention is further described with reference to the following figures and examples:
a method for loading battery components comprises transferring solar battery components from a transfer platform 2 to a laminating cavity of a laminating machine along an X axis by a high-temperature cloth transfer device, arranging position marks for placing the battery components on the high-temperature cloth, acquiring standard placing position images of the battery components in advance by a vision system, picking up the position mark images by the vision system when a high-temperature cloth conveyor belt reaches a specified position, comparing pixel points of the picked position marks with positions of pixel points of the standard placing positions by the vision system, analyzing the distance difference between the position marks of the battery components and the standard placing positions by the vision system, calculating the moving distances of a manipulator on the X axis and the Y axis according to the difference and informing a control device, controlling the manipulator to move corresponding distances on the X axis and the Y axis by the control device, placing the battery components at the positions corresponding to the position marks by the manipulator, and conveying the battery assembly from the conveying platform to the laminating cavity by the high-temperature cloth conveying device for laminating. In the method of the present invention, the standard placement position can be obtained by using the position where the component should theoretically reach as a standard position, setting a position mark at the position, and then acquiring a position mark image at the position, wherein the position is used as the standard position by the system and is called as a standard point. The position mark for placing the battery assembly in the method can be the edge of the strip, the image of the edge of the strip is obtained through a vision system when the assembly is placed each time, and the moving distance of the manipulator on the X axis and the Y axis is calculated according to the position of the pixel point where the edge of the strip is located. The position mark for placing the battery component can also be a corner formed by side lines of two adjacent sides of the end part of the strip, the size of two sides of the corner is not more than 6-10mm, an image of the corner formed by the two adjacent sides of the end part of the strip is collected in advance to be used as a standard template and stored in a visual system, after an image pickup device obtains the image of the strip, image processing software searches for an image which is best matched with the template, then the position of the image is located to obtain the position mark, then the position of a pixel point of the position mark is compared with the position of a pixel point of an upper corner of the standard template, the offset distance in the X direction and the Y direction is calculated, and therefore the distance which a manipulator needs to move is calculated. In the method of the present invention, it is preferable that the robot and the image pickup device are synchronously moved to a standard position, the image pickup device acquires an image of the end point of the strip after reaching the standard position, the positions of the pixel points of the acquired image are compared with the positions of the pixel points of the image of the standard point, and the movement distance of the robot in the X-axis direction and the Y-axis direction is calculated. Since both sides of the high-temperature cloth are synchronously conveyed by the high-temperature cloth conveying device in the present invention, the positions of both sides of the strip are not greatly different, and therefore, the amount of displacement of the corner of the end point in the Y-axis direction can be ignored, and only the amount of displacement of the end point in the X-axis direction can be calculated. In the method, the angle formed by two adjacent side lines at the end part of the strip is used as the position mark, and the high-temperature cloth and the strip are flexible, so that a certain deformation amount, such as wrinkles, can occur in the transmission process, the edge of the strip deviates a larger distance, and the angle at the end part of the strip is used as the position mark, so that the position error can be reduced, and the moving distance of the manipulator is more accurate.
As shown in fig. 1-6, the method of the present invention can be implemented by using a battery pack feeding system having the following structure, where the battery pack feeding system includes a frame 500, a battery pack conveying platform 2, a high temperature cloth conveying device, a manipulator and a vision system, the high temperature cloth conveying device includes a high temperature cloth 105 and a high temperature cloth driving device for driving the high temperature cloth to move along the X-axis direction, the conveying platform 2 is located below the high temperature cloth 105, the high temperature cloth driving device drives the high temperature cloth to move on the conveying platform, and the conveying platform supports the high temperature cloth, and the high temperature cloth plays a role of a conveyor belt, and is generally called as a high temperature cloth conveyor belt. Be provided with tool 101 at the upper surface of high temperature cloth, separate into a plurality of spaces that hold solar module 1 with the high temperature cloth upper surface by a plurality of tools, the size in this space and battery module's big or small looks adaptation, will match with the size of subassembly on the transmission direction of subassembly at least, just hold and place a battery module 1 to can carry out moving direction's spacing to battery module, prevent that battery module from taking place to scurry the position at the in-process that is transmitted. In the embodiment of the invention, each fixture comprises a strip 102 with obvious color difference with the high-temperature cloth, the strip is fixedly arranged on the upper surface of the high-temperature cloth in a bonding or sewing mode, for example, as shown in fig. 1 and 5, a plurality of parallel longitudinal strips 102 are arranged, the laying direction of the longitudinal strips is vertical to the advancing direction of the high-temperature cloth, as shown in fig. 6, a transverse strip vertical to the longitudinal strips can also be arranged, and the laying direction of the transverse strip is consistent with the conveying direction of the high-temperature cloth. The interval a between the longitudinal strips is equal to the width of the battery module, and the number of the longitudinal strips depends on the length of the high-temperature cloth and the width of the battery module. The strip can adopt the teflon material, foam material or rubber materials, it can bear the high temperature of lamination process, and be flexible material, its thickness equals or slightly is less than battery pack's height, for example, the thickness of present two ripples battery pack is generally 6MM, therefore the thickness of strip is the preferred thickness more than or equal to 5 MM less than or equal to 6MM, like this when laminating battery pack, the strip can give certain support to the silica gel board of exerting pressure for battery pack, but can not obstruct the silica gel board and exert pressure to battery pack, but the pressure of dispersible silica gel board to the battery pack corner promotes its bubble to get rid of simultaneously, prevent that the bubble from gathering in battery pack's corner. In order to further improve the bubble discharging effect and prolong the service life of the silica gel plate, as shown in fig. 4, it is preferable to adopt a jig having a strip-shaped connecting band 106 on which arc-shaped bands 102 are respectively provided on both sides of the connecting band along the length direction of the connecting band, and a more preferable embodiment is to adopt teflon cloth as the connecting band 106, fold a part of the cloth surface of both side edges of the teflon cloth toward one side along the length direction of the teflon cloth, sew the folded cloth surface together with the teflon cloth, form strip-shaped annular sleeves 103 on both side edges, respectively, insert a cylindrical core 104 into the annular sleeves, the cylindrical core needs to have certain flexibility, and can be made of sponge material, elastic rubber, or silica gel, so that arc-shaped protrusions are respectively formed on both side edges of the connecting band 106, and because the connecting band is lower than the bands on both sides when the electrical component is provided between the protruding bands, when the battery component is laminated by the silica gel plate, the silica gel plate can be coated with the arc-shaped strip along the cylindrical outer circumferential surface, so that the silica gel plate is fully contacted with the battery component, the flexible strip cannot damage the silica gel plate, the service life of the silica gel plate can be effectively prolonged, the service life of the silica gel plate is prolonged by 20% compared with that of the silica gel plate with a metal frame, and two adjacent battery components are arranged side by side in a group by two jigs. The cross section of the jig can be rectangular, circular arc or elliptic arc. When the cross section of the jig is arc-shaped or elliptical arc-shaped, the effect of the jig with the structure shown in fig. 4 can be achieved by arranging the two jigs in parallel at a certain distance.
As shown in fig. 1 and 2, a cross member 210, preferably centrally disposed, on which the robot 200 is disposed, is provided on the frame 500 in the advancing direction of the high temperature cloth 105. The direction of the x-axis of the manipulator is consistent with the length direction of the cross beam. As shown in fig. 2, the robot comprises a gripping device 203, an X-axis driving device 216, and a longitudinal axis driving device 215, wherein an output end of the longitudinal axis driving device 215 is connected with the gripping device 203 so as to drive the gripping device to reciprocate along the longitudinal axis, and an output end of the X-axis driving device 216 is connected with the longitudinal axis driving device 215 so as to drive the longitudinal axis driving device 215 and the gripping device to reciprocate along the X-axis of the robot. The X-axis driving device and the longitudinal axis driving device form a servo motion system, the X-axis driving device 216 comprises a first driving motor 212, a first gear-rack transmission pair, a first guide rail and a first slide block guide device, the first gear rack 211 and the first guide rail 218 are fixedly arranged on a cross beam along the X-axis direction of the manipulator, the output end of the first driving motor 212 is connected with a first gear of the gear-rack transmission pair through a speed reducer, the first gear is meshed with the first gear rack 211, and the first X-axis driving motor 212 and the speed reducer are connected with the first slide block through a fixing plate 220; the longitudinal shaft driving device 215 is arranged on the fixing plate, the longitudinal shaft driving device 215 comprises a longitudinal beam 202, a z-axis driving power device, a z-axis reciprocating transmission device and a second guiding device, the grabbing device is arranged at the output end of the z-axis reciprocating transmission device, and the z-axis driving power device drives the z-axis reciprocating transmission device to perform reciprocating transmission to drive the grabbing device to reciprocate up and down. In the invention, the z-axis reciprocating transmission device is preferably a second transmission device consisting of a gear and a rack, a second rack 214 of the second transmission device is fixed on the longitudinal beam 202 along the z-axis direction of the manipulator, the z-axis driving power device consists of a second driving motor 213 and a speed reducing motor, a second guiding device 217 comprises a second guiding rail 219 and a second sliding block, the second guiding rail 219, the second driving motor and the second speed reducing motor are fixedly connected with the fixed plate 220, the second guiding rail 219 is parallel to the second rack 214, the second sliding block is fixedly connected with the longitudinal beam, the second gear is in meshing transmission connection with the second rack, and preferably, the first gear and the second. The grabbing device is horizontally arranged at the lower end of the longitudinal beam and fixedly connected with the longitudinal beam. Preferably, the gripping device comprises a frame body 204, a clamping jaw 205, a clamping jaw reciprocating driving device 206 and clamping fingers 207, wherein the clamping jaw 205 is respectively arranged on two sides of the longitudinal beam 202, the clamping jaw is vertically arranged in the direction of the z axis and the direction of the X axis of the manipulator, the two sides of the longitudinal beam are clamped and clamped to form a plane, each clamping jaw is connected with the output end of the reciprocating driving device 206, the reciprocating driving device 206 is fixedly arranged on the frame body 204, the moving direction of the output end of the reciprocating driving device is the same as the direction of the X axis, the reciprocating driving device 206 can drive the clamping jaws on the two sides to reciprocate relatively or oppositely along the direction of the X axis of the manipulator, each clamping jaw is provided with at least one clamping finger 207, the clamping finger 207 is of a bending structure, one bending end of the clamping finger is fixedly connected with the clamping jaw on the corresponding side, the other end of the clamping jaw is positioned below the clamping, the claw fingers can clamp and hold the battery assembly or withdraw and put down the battery assembly from the lower part of the battery assembly. Of course, the gripping device may also be a suction type gripping device, the structure of which is well known to those skilled in the art and will not be described in detail herein. The grabbing device only needs to grab the battery pack.
The vision system of the embodiment of the invention comprises a position acquisition device 300, an image processing system and a control system, wherein the position acquisition device 300 comprises a second frame 209 of an image pickup device and the image pickup device, the image pickup device is fixedly arranged on the second frame 204 through the second frame 209, one or more image pickup devices can be arranged, the field of view of the image pickup device and the size and the position of an acquired image are determined, when one image pickup device cannot acquire a complete image, a plurality of image pickup devices can be arranged at different positions of the second frame 204, in the embodiment of the invention, two image pickup devices are arranged, two image pickup devices are diagonally arranged on the second frame 204 and respectively correspond to two pairs of angular positions of a battery assembly, the image processing system comprises an image processing device, image processing software and an analysis model, the image processing software and the analysis model are arranged in the image processing device, the output end of the image pickup device is in signal connection with the input end of the control system, the output end of the control system is in signal connection with the input end of the control system, the control system is in signal connection with the input end of the image processing device, the control system, the image processing device is in signal connection with the input end of the control system, the image pickup device is used for obtaining a standard image pickup device, the image pickup device, the image pickup device is used for obtaining a camera pickup image pickup device, the image pickup device is used for obtaining a camera pickup device, the image pickup device for obtaining a camera pickup device, the image pickup device for obtaining a camera pickup image pickup device for obtaining a camera pickup device, the image pickup device for obtaining a camera pickup device, the image pickup device for obtaining a camera.
A set of cameras are fixedly arranged on the frame bodies on the left side and the right side of the cross beam through the second frame body respectively, each set of cameras is provided with at least one camera, the two sets of cameras serving as position acquisition devices are arranged at the corners of the frame bodies respectively, the two cameras are arranged diagonally, and the cameras are in signal connection with the control device. Only one set of cameras may be provided.
The high-temperature cloth transmission device is positioned below the cross beam, the high-temperature cloth is arranged along the length direction of the cross beam, and the high-temperature cloth can advance or return to the lower part of the cross beam under the driving of the high-temperature cloth driving device.
Generally, a high-temperature cloth conveying device with the following structure comprises a transmission chain and a transmission chain wheel which are positioned on two sides of a rack, wherein a pull rod 100 is arranged on the transmission chain and is perpendicular to the conveying direction of high-temperature cloth, the pull rod 100 can be arranged at one end or two ends of the high-temperature cloth and is connected with the transmission chain which is arranged oppositely on the two sides, a position sensor is arranged at the feeding end and/or the discharging end of the rack, a detection element is arranged on the pull rod, the conveying position of the high-temperature cloth is detected through the position sensor, the position sensor is in signal connection with the input end of a control device, a driving motor for driving the high-temperature cloth to move is in signal connection with the output end of the control device, and when the high-temperature cloth is conveyed in place, the driving motor for driving the.
During operation, the high temperature cloth is transmitted to the lower part of the cross beam by the high temperature cloth transmission device, the battery pack is transmitted to the front of the high temperature cloth by the material transmission device 400, the manipulator grabs the battery pack and then moves along the cross beam, the camera and the manipulator move synchronously, a sideline formed between the jig and the high temperature cloth or an area figure formed by adjacent edges of the jig is obtained through the camera and transmitted to the image processing system, the distance required to be moved by the manipulator is determined according to the pixel position difference by the image processing system, the distance signal is transmitted to the control system, the manipulator is controlled by the control system to move for a corresponding distance, and the battery pack is placed on the high temperature cloth. And the height and the shape of the jig are used for positioning the battery pack and supporting the silica gel plate during lamination. Because the jig is fixedly arranged on the high-temperature cloth, the stop positions of the high-temperature cloth on the transmission platform are basically consistent, the position of the jig is basically fixed, and the battery pack can be conveniently placed in place only by fine adjustment when the battery pack is placed by the manipulator. According to the invention, the jig is arranged on the high-temperature cloth and used as a mark for identifying the placement position of the battery assembly, so that the position of the battery assembly is relatively fixed, and the placement efficiency and the placement accuracy of the battery assembly are improved.
In order to facilitate the clamping jaws to grab and place the battery components, a jacking device is arranged below the transmission platform and comprises a thimble 602 and a thimble driving device 601 for driving the thimble to reciprocate vertical to the transmission platform 2, the thimble driving device is positioned below the transmission platform 2, a thimble hole 603 is arranged at the position of the transmission platform corresponding to the thimble, one end of the thimble is connected with the thimble driving device 602, the other end of the thimble is arranged in the thimble hole 603, the position of the thimble corresponds to the placing position of the battery components, each group of thimbles corresponds to one battery component, the thimble is driven by the thimble driving device to penetrate in and out of the thimble hole, when the thimble penetrates out of the thimble hole, the thimble jacks up the high-temperature cloth 105 to enable the part of the high-temperature cloth provided with the jig to be higher than other parts, so that the position marks can be easily distinguished by vision, the position for placing the battery components more accurately can be obtained, and, therefore, the part which is not jacked up by the thimble extends downwards, when the battery component 1 is placed, the battery component is higher than other positions, the action of the clamping jaw is convenient, and the action of the clamping jaw cannot interfere with the jig. In addition, the transmission platform and the laminating machine share the high-temperature cloth transmission device, so that when the battery assembly is laminated, the raised jig provides a certain supporting force for the silica gel plate, but does not generate resistance to the contact of the silica gel plate and the upper surface of the battery assembly, so that the contact of the silicon angle plate at the corner part and the battery assembly is more uniform, the phenomenon of acute stress at the corner part caused by nonuniform pressure can be reduced, and bubbles can be removed more easily. In order to solve the technical problems that the service life of a battery is influenced because the thickness of a double-wave component is large, vapor bubbles are not easy to remove, and meanwhile, in order to solve the technical problem that the double-glass component is uneven and easy to warp when the double-glass component directly enters a high-temperature laminating cavity from low temperature, a transmission platform is manufactured into a preheating platform which consists of a plurality of aluminum heating plates, the aluminum heating plates can be bought in the market, the plurality of aluminum heating plates are arranged on a rack to form the transmission platform, the service life of the aluminum heating plates is reduced by friction between the high-temperature cloth and the transmission platform when the high-temperature cloth moves on the transmission platform, a lower-layer high-temperature cloth is arranged above the transmission platform below the high-temperature cloth, the lower-layer high-temperature cloth is fixed on the rack through two ends of the lower-.
In a more preferred scheme, the feeding table high-temperature cloth and the host machine laminated high-temperature cloth are integrally arranged, so that the integral linkage large circulation is realized.
In the invention, the control device preferably adopts P L C, the position sensor and the camera are respectively connected with the input end of P L C through electric signals, the position of the jig obtained by the camera is analyzed and processed through visual software, and the manipulator is controlled to move along the x axis according to the position information to place the battery assembly in the space formed by the jig.
Claims (10)
1. High temperature cloth conveyer belt convenient to visual system discernment, including the high temperature cloth body, its characterized in that sets up an at least tool at the upper surface of high temperature cloth body, every tool is flexible, is strip form, and the tool falls into high temperature cloth into a plurality of regions, the colour at the border of its strip of tool at least with the colour of high temperature cloth is different.
2. The high-temperature cloth conveyor belt convenient for a vision system to recognize as claimed in claim 1, wherein the jig is arranged along a length direction and/or a width direction of the high-temperature cloth body.
3. The high temperature cloth conveyor belt easy to recognize by vision system as claimed in claim 1 or 2, wherein the jigs are in a group of two by two, and the strips in each group of jigs are arranged in parallel adjacent to each other at a certain interval.
4. The high-temperature cloth conveyor belt convenient for the visual system to identify as claimed in claim 1, wherein the cross section of the jig is circular arc, elliptical arc, triangular, or the jig comprises a connecting belt (106), and arc-shaped protrusions (107) are respectively arranged on two sides of the connecting belt along the length direction of the connecting belt.
5. The utility model provides a battery pack feeding system, including setting up transmission platform (2) on frame (500), be provided with high temperature cloth conveyer belt on the transmission platform, high temperature cloth conveyer belt removes on transmission platform, a serial communication port, still include manipulator and the visual system who comprises position collection device (300), image processing system and control system, be provided with crossbeam (201) along battery pack's direction of delivery above the transmission platform, position collection device includes the image pickup device, image pickup device and manipulator setting can follow the length direction reciprocating motion of crossbeam on the crossbeam, adopt one of claims 1-4 high temperature cloth conveyer belt, control system and image processing system electric signal connection, the position information of strip border or strip corner on the high temperature cloth conveyer belt is discerned by the visual system, control system controls the manipulator on the crossbeam according to the position information control manipulator of strip border or strip corner that image recognition system discerned And (4) moving.
6. The battery pack loading system according to claim 5, wherein the robot and the image pickup device are synchronously displaced on the cross member.
7. The battery pack feeding system according to claim 5, wherein a plurality of pin holes (603) are formed in the conveying platform, the pins (602) are vertically disposed in the pin holes, a pin driving device is disposed below the conveying platform, and an output end of the pin driving device is connected to a lower end of each pin.
8. The battery pack loading system according to claim 5, wherein the jig has a thickness equal to or slightly lower than the height of the battery pack.
9. A battery pack feeding method is characterized in that a vision system obtains and stores a standard position of a battery pack on a high-temperature cloth conveying belt, when the high-temperature cloth conveying belt reaches a position for receiving the battery pack, the vision system identifies a position mark on the high-temperature cloth conveying belt and compares the position mark with the stored standard position to calculate the moving distance of a manipulator, and a control system controls the moving distance calculated by the vision system to control the manipulator to move to a corresponding position.
10. A battery pack feeding method is characterized in that a strip-shaped jig is laid on a high-temperature cloth conveyor belt to obtain position marks of a battery pack, a vision system identifies the positions of two adjacent corners at the end of a strip to calculate the distance to be moved by a manipulator, and the high-temperature cloth conveyor belt conveys the battery pack into a laminating machine to complete lamination.
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| CN201910874811.7A CN111463156B (en) | 2019-09-17 | 2019-09-17 | Battery assembly feeding method, feeding system and high-temperature cloth conveying belt convenient for visual system identification |
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