CN111463156B - Battery assembly feeding method, feeding system and high-temperature cloth conveying belt convenient for visual system identification - Google Patents
Battery assembly feeding method, feeding system and high-temperature cloth conveying belt convenient for visual system identification Download PDFInfo
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- CN111463156B CN111463156B CN201910874811.7A CN201910874811A CN111463156B CN 111463156 B CN111463156 B CN 111463156B CN 201910874811 A CN201910874811 A CN 201910874811A CN 111463156 B CN111463156 B CN 111463156B
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- temperature cloth
- driving device
- battery assembly
- jig
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- 238000005452 bending Methods 0.000 claims description 4
- 230000002950 deficient Effects 0.000 abstract description 5
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- 230000033001 locomotion Effects 0.000 description 12
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 11
- 239000000741 silica gel Substances 0.000 description 11
- 229910002027 silica gel Inorganic materials 0.000 description 11
- 238000010030 laminating Methods 0.000 description 9
- 239000011521 glass Substances 0.000 description 8
- 239000004809 Teflon Substances 0.000 description 5
- 229920006362 Teflon® Polymers 0.000 description 5
- 238000003475 lamination Methods 0.000 description 5
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- 229920001296 polysiloxane Polymers 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
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- 229910052710 silicon Inorganic materials 0.000 description 3
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- 230000005465 channeling Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
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- 238000004806 packaging method and process Methods 0.000 description 2
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- 238000004220 aggregation Methods 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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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor 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
- H01L31/04—Semiconductor 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 adapted as photovoltaic [PV] conversion devices
- H01L31/042—PV modules or arrays of single PV cells
- H01L31/048—Encapsulation of modules
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor 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
- H01L31/18—Processes or apparatus specially adapted for the manufacture or treatment of these devices or of parts thereof
- H01L31/1876—Particular processes or apparatus for batch treatment of the devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- 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
-
- 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
Abstract
The invention aims to provide a battery component feeding method, a feeding system and a high-temperature cloth conveying belt which are convenient for a visual system to identify, aiming at the defects that the battery component is easy to collide and misplace with a corner frame in the transmission process and defective products are caused by the breakage and misplacement of the component in the transmission process in the prior art, the battery component feeding method comprises 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 the edge of at least one strip of the jig is different from that of the high-temperature cloth, and the battery component can be placed in a space formed by the jigs by adopting the high-temperature cloth conveying belt and the feeding system which are convenient for the visual system to identify.
Description
Technical Field
The invention relates to solar cell module feeding equipment and a feeding method, in particular to a double-glass solar cell module feeding system, a double-glass solar cell module feeding method and all high-temperature cloth conveying belts.
Background
In the production of the assembly, the assembled solar cell assembly is required to be transmitted through a feeding workbench and is transmitted into a vacuum chamber of a laminating machine to complete vacuum lamination packaging, in the packaging of a thick cell assembly such as a double-wave assembly, the thickness of the thick 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 the atmospheric pressure, the acting force of the silica gel plate is concentrated at the corners of the cell assembly, bubbles at the corners of the assembly are not easy to be discharged, the folds of the silica gel plate are increased, 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 put a frame or a corner piece, set a component in the frame or the corner piece, enable the pressure of a silicon corner plate to be concentrated on the frame or the corner piece, improve the discharge capacity of bubbles at the corner of the component, but adopt the structure, because the frame or the corner piece needs to be put, the putting position is uncertain, the frame or the corner piece is made of metal materials, the component is easy to collide with the frame or the corner piece in the transmission process and misplacement, the component is damaged in the transmission process, and the metal frame collides with the component to cause impact force to the component, so that the component is easy to misplace, and the edge of the component is uneven and also causes defective products. Meanwhile, each battery assembly needs to be placed with a frame or a group of corners, so that the labor intensity is increased.
In addition, because the dual-glass assembly is subjected to vacuum curing, heating and pressurizing in the prior art, the dual-glass assembly directly enters a high-temperature laminating cavity from a low-temperature environment, the temperature of the laminating cavity is generally higher than 100 ℃, and the dual-glass assembly is suddenly heated and is uneven in heat conduction because of being thicker, so that the dual-glass assembly is easy to warp, and defective products can be caused.
Disclosure of Invention
The invention aims at solving the defects that in the prior art, a charging basket is adopted to transmit a battery assembly, the assembly is easy to collide with a corner frame and misplace in the transmission process, the assembly is damaged in the transmission process, the metal frame collides with the assembly, the assembly is easy to misplace, the edge of the assembly is uneven, and defective products are easy to cause, and a battery assembly feeding method, a feeding system and a high-temperature cloth conveying belt which are convenient for visual system identification are provided.
The invention aims at realizing the following technical scheme:
the high-temperature cloth conveyor belt convenient for visual system identification 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 is in a strip shape, the jig divides the high-temperature cloth into a plurality of areas, and at least the color of the edge of the 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 in a group of two pairs, and the strips in each group of jigs are arranged in parallel at a certain interval adjacent to each other;
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 battery pack feeding system comprises a transmission platform (2) arranged on a frame (500), a high-temperature cloth conveying belt is arranged on the transmission platform, the high-temperature cloth conveying belt moves on the transmission platform, and the battery pack feeding system is characterized by further comprising a manipulator and a vision system composed of a position acquisition device (300), an image processing system and a control system, wherein a beam (201) is arranged above the transmission platform along the transmission direction of the battery pack, the position acquisition device comprises an image acquisition device, the image acquisition device and the manipulator are arranged on the beam and can reciprocate along the length direction of the beam, the high-temperature cloth conveying belt is electrically connected with the image processing system by adopting one of the high-temperature cloth conveying belts according to the claims 1-4, the vision system is used for identifying the position information of the edges or the corners of the strips on the high-temperature cloth conveying belt, and the control system is used for controlling the manipulator to move on the beam according to the position information of the edges or the corners of the strips identified by the image identification system;
the manipulator and the image pickup device synchronously displace on the cross beam;
a plurality of thimble holes (603) which are perpendicular to the transmission platform are formed in 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 thimbles;
the thickness of the jig is equal to or slightly lower than the height of the battery component;
the battery pack feeding method is characterized in that a vision system acquires and stores the standard position of a battery pack on a high-temperature cloth conveying belt, after the high-temperature cloth conveying belt reaches the position for receiving the battery pack, the vision system recognizes the position mark on the high-temperature cloth conveying belt and compares the position mark with the stored standard position, the distance of movement of a manipulator is calculated, and the control system controls the calculated movement distance of the vision system to control the manipulator to move the corresponding position.
The battery pack feeding method includes the steps that a strip-shaped jig is paved on a high-temperature cloth conveying belt to obtain a position mark of the battery pack, a vision system is used for identifying positions of two adjacent corners of the end part of the strip, the distance required to be moved by a manipulator is calculated, and the battery pack is conveyed into a laminating machine through the high-temperature cloth conveying belt to finish lamination.
According to the high-temperature cloth conveying belt and the feeding system with the structure, the feeding system is provided with the high-temperature cloth conveying belt, the high-temperature cloth conveying belt is fixedly provided with the strip-shaped jig, the strip-shaped jig is made of flexible materials, the high-temperature cloth conveying belt is divided into a plurality of areas for accommodating the battery components, the battery components can be placed in the space formed by the jig, when the battery components are conveyed, the battery components are limited by the jig, and due to the fact that the jig is made of flexible materials, the jig cannot generate hard collision on the battery components due to a certain channeling position in the conveying process, so that the battery components are not easy to damage, impact force is not caused to the components due to collision between the flexible frame and the components, and dislocation of defective products is not easy to occur to the components, and therefore, the yield of workpieces is improved; in addition, after the battery component is conveyed into the vacuum cavity of the laminating machine by the high-temperature cloth, in the pressing process, the strips of the jig are flexible, so that the silica gel plate is not hindered from pressing the battery component while being given a certain supporting force, the pressure of the silica gel plate on the corners of the battery component can be dispersed, the bubble removal of the battery component is promoted, and the bubble aggregation at the corners of the battery component is prevented, so that the improvement of the overall quality of the battery component is facilitated.
The method is adopted for feeding, and the high-temperature cloth conveyor belt is provided with the strip with larger color difference with 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, the position difference between the placement position and the standard placement position of each battery assembly is calculated through the vision system, the corresponding distance of the movement of the manipulator is controlled, the position difference of each battery assembly is compensated, the battery assembly is accurately placed in a space formed by a jig, the position of the battery assembly in the movement direction is limited by the jig, and the battery assembly is more stable in the conveying process and is not easy to be misplaced; meanwhile, when the battery assembly is limited by the jig and pressed, the battery assembly is supported by the flexible jig, so that the pressure of the silicon corner plate to the corners of the battery assembly can be dispersed, and the bubble removal is promoted, so that the battery assembly is better in molding. Simplifying the process and improving the yield.
Drawings
FIG. 1 is a schematic diagram of a high temperature cloth conveyor belt embodiment of a dual glass assembly loading system of the present invention for facilitating vision system identification;
FIG. 2 is a schematic diagram of a mechanical arm embodiment of a dual-glass assembly feeding system according to the present invention;
FIG. 3 is a schematic structural view 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 diagrams of the jig distributed on the high-temperature cloth according to the embodiment.
Description of the reference numerals
1 cell module 2-transmission platform solar cell module
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-grabbing device 204-frame 205-clamping jaw 206-reciprocating drive device 207-clamping finger 208-clamping groove 209-frame two 210-cross beam 211-rack one 212-drive motor one 213-drive motor two 214-rack two 215-longitudinal axis drive device 216-X axis drive device 217-guide device two 218-slide rail one 219-slide rail two 220-fixed plate
300-position acquisition device 301-column 302-column 303-bracket
400-material feeding device
500-rack
601-thimble driving device 602-thimble 603-thimble hole
Detailed Description
The invention is further described with reference to the accompanying drawings and examples:
a high-temperature cloth transmission device is adopted to transmit a solar battery assembly from a transmission platform 2 to a laminating cavity of a laminating machine along an X axis, a position mark for placing the battery assembly is arranged on high-temperature cloth, a vision system acquires a standard placement position image of the battery assembly in advance, when a high-temperature cloth conveying belt reaches a specified position, the vision system captures the position mark image, the vision system compares a pixel point where the captured position mark is positioned with a pixel point where the standard placement position is positioned, the vision system analyzes a distance difference value between the position mark of the battery assembly and the standard placement position, the distance between the movement distance of a manipulator in the X axis and the movement distance of the manipulator in the Y axis are calculated according to the distance, the manipulator moves corresponding distances between the X axis and the Y axis, the manipulator places the battery assembly to the position corresponding to the position mark, and the high-temperature cloth transmission device transmits the battery assembly from the transmission platform to the laminating cavity for lamination. In the method of the present invention, the standard placement position can be obtained by taking the position to which the component should theoretically reach as the standard position, setting a position mark at the position, and then acquiring a position mark image at the position, wherein the system takes the position as the standard position and is called a standard point. The position mark for placing the battery component in the method can be the edge of a strip, and each time the component is placed, an image of the edge of the strip is obtained through a vision system, and the moving distance of the manipulator on the X axis and the Y axis is calculated according to the pixel point position of the edge of the strip. The position mark for placing the battery component can also be an angle formed by side lines on two adjacent sides of the end part of the strip, the two sides of the angle are not more than 6-10mm, images of the angle formed by the two adjacent sides of the end part of the strip are collected in advance and stored in a vision system as standard templates, after the image capturing device acquires the images of the strip, image processing software searches for the images which are best matched with the templates, the position of the images is positioned to obtain the position mark, then the position of the pixel point where the position mark is positioned is compared with the position of the pixel point where the angle is positioned on the standard templates, and the offset distance between the X direction and the Y direction is calculated, so that the distance required to be moved by the manipulator is calculated. In the method of the present invention, it is preferable that the manipulator and the image pickup device are synchronously displaced to a standard position, an image of a strip end point is acquired by the image pickup device after reaching the standard position, and the position of a pixel point of the acquired image is compared with the position of the pixel point of the image of the standard point, so that the distance of the manipulator moving in the X-axis and Y-axis directions is calculated. In the invention, the two sides of the high-temperature cloth are synchronously transmitted by the high-temperature cloth transmission device, so the position difference of the two sides of the strip is not large, the offset of the end point corner in the Y-axis direction can be ignored, and only the offset of the end point in the X-axis direction is calculated. In the method, the angle formed by two adjacent edges of the end part of the strip is used as the position mark, and the high-temperature cloth and the strip are flexible, so that certain deformation amount can occur in the transmission process, such as crease can occur, the edge of the strip deviates from a larger distance, and the angle of 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 to 6, the method of the present invention may be implemented by using a battery pack feeding system having a structure according to the following embodiment, where the feeding system includes a frame 500, a battery pack transmission platform 2, a high-temperature cloth transmission device, a manipulator, and a vision system, the high-temperature cloth transmission 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 transmission 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 transmission platform, and the high-temperature cloth is supported by the transmission platform, and thus is generally called a high-temperature cloth conveyor belt because the high-temperature cloth plays a role of a conveyor belt. The upper surface of the high-temperature cloth is provided with the jig 101, the upper surface of the high-temperature cloth is divided into a plurality of spaces for accommodating the solar cell module 1 by a plurality of jigs, the size of the spaces is matched with the size of the cell module, at least the size of the cell module is matched with the size of the module in the transmission direction of the module, the cell module 1 is just accommodated and placed, the movement direction of the cell module can be limited, and the cell module is prevented from channeling in the transmission process. In the embodiment of the present invention, each jig includes a strip 102 with obvious color difference with the high temperature cloth, and the strips are fixedly disposed on the upper surface of the high temperature cloth by bonding or sewing, for example, as shown in fig. 1 and 5, a plurality of parallel longitudinal strips 102 are disposed, the laying direction of the longitudinal strips is perpendicular to the advancing direction of the high temperature cloth, as shown in fig. 6, and a transverse strip perpendicular to the longitudinal strips may be disposed, 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 assembly, and the number of the longitudinal strips depends on the length of the high-temperature cloth and the width of the battery assembly. The strips may be made of teflon, foam or rubber, and are flexible, and have a thickness equal to or slightly lower than the height of the battery assembly, for example, the thickness of the current dual wave battery assembly is generally 6MM, so that the thickness of the strips is preferably equal to or greater than 5 MM and less than 6MM, so that when the battery assembly is laminated, the strips can provide a certain support for the silicone plate for pressing the battery assembly, but the silicone plate is not hindered from pressing the battery assembly, the pressure of the silicone plate on the corners of the battery assembly can be dispersed, and the removal of bubbles is promoted, so that bubbles are prevented from gathering at the corners of the battery assembly. In order to further improve the air bubble discharging effect and prolong the service life of the silica gel plate, as shown in fig. 4, a jig with a structure is preferably adopted, which comprises a strip-shaped connecting belt 106, arc-shaped strips 102 are respectively arranged on two sides of the connecting belt along the length direction of the connecting belt, a better embodiment is that teflon cloth is adopted as the connecting belt 106, a part of the cloth surfaces on two side edges of the teflon cloth is folded to one side along the length direction of the teflon cloth and then is sewn together with the teflon cloth, a long strip-shaped annular sleeve 103 is respectively formed on the two side edges, a cylindrical core strip 104 is inserted into the annular sleeve, the cylindrical core strip needs to have certain flexibility, and can be made of sponge materials, elastic rubber and silica gel strips, so that arc-shaped bulges are respectively formed on two side edges of the connecting belt 106. The cross section of the jig can be rectangular, circular arc or elliptical arc. When the cross section of the jig is in a circular arc shape or an elliptical arc shape, the two jigs are arranged in parallel at a certain distance to achieve the effect of the jig in the structure shown in fig. 4.
As shown in fig. 1 and 2, a beam 210 is provided on the frame 500 along the forward direction of the high temperature cloth 105, and the beam is preferably centrally disposed, and the robot 200 is disposed on the beam. 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 manipulator includes 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 to drive the longitudinal axis driving device 215 and the gripping device to reciprocate along the X-axis of the manipulator. The X-axis driving device and the longitudinal axis driving device form a servo motion system, the X-axis driving device 216 comprises a driving motor I212, a gear rack transmission pair I, a guide device I formed by a guide rail I and a slide block I, a rack I211 and a guide rail I218 are fixedly arranged on a cross beam along the X-axis direction of the manipulator, the output end of the driving motor I212 is connected with the gear I of the gear rack transmission pair through a speed reducer, the gear I is in meshed connection with the rack I211, and the X-axis driving motor I212 and the speed reducer are connected with the slide block I through a fixing plate 220; the vertical axis driving device 215 is arranged on the fixed plate, the vertical axis 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 carry out reciprocating transmission so as to drive the grabbing device to reciprocate up and down. In the invention, the z-axis reciprocating transmission device is preferably a transmission device II formed by gears and racks, the rack II 214 of the transmission device II is fixed on the longitudinal beam 202 along the z-axis direction of the manipulator, the z-axis driving power device is formed by a driving motor II 213 and a gear motor, the guiding device II 217 comprises a guide rail II 219 and a slide block II, the guide rail II, the driving motor and the gear motor are fixedly connected with the fixed plate 220, the guide rail II 219 is arranged in parallel with the rack II 214, the slide block II is fixedly connected with the longitudinal beam, the gear II is in meshed transmission connection with the rack II, and preferably, the gear I and the gear II are bevel gears. 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 204, gripping claws 205, a gripping claw reciprocating driving device 206 and gripping claw fingers 207, the gripping claws 205 are respectively arranged at two sides of the longitudinal beam 202, the gripping claws are vertically arranged in the z-axis direction and the X-axis direction of the manipulator, the gripping claws at two sides are clamped to form a plane, each gripping claw is connected with the output end of the reciprocating driving device 206, the reciprocating driving device 206 is fixedly arranged on the frame 204, the moving direction of the output end is the same as the X-axis direction, the reciprocating driving device 206 can drive the gripping claws at two sides to reciprocate relatively or reversely move along the X-axis direction of the manipulator, each gripping claw is provided with at least one gripping claw 207, the gripping claw 207 is in a bending structure, one bending end of the gripping claw is fixedly connected with the gripping claw at the corresponding side, the distance between the other end of the gripping claw and the gripping claw is greater than the thickness of the battery assembly, and the gripping claws at two sides are oppositely arranged, when the reciprocating driving device drives the reciprocating driving device to reciprocate, the gripping claws can clamp and hold the battery assembly or withdraw the battery assembly from the lower side of the battery assembly. Of course, the gripping device may also be a suction cup gripping device, and the structure of the suction cup gripping device is well known to those skilled in the art, and will not be described in detail herein. The grabbing device can only grab the battery assembly.
The vision system of the embodiment of the invention includes a position acquisition device 300, an image processing system and a control system, the position acquisition device 300 includes an image capturing device and a second frame 209 of the image capturing device, the image capturing device is fixedly arranged on the frame 204 through the second frame 209, one or more image capturing devices can be arranged, the view of the image capturing device and the size and position of the acquired image depend, when one image capturing device cannot acquire a complete image, a plurality of image capturing devices can be arranged at different positions of the frame 204, in the embodiment of the invention, two image capturing devices are arranged on the frame 204 diagonally, and the two image capturing devices respectively correspond to two diagonal positions of the battery component. The image processing system comprises an image processing device, image processing software and an analysis mathematical model, wherein the image processing software and the analysis mathematical model are arranged in the image processing device, the output end of the image capturing 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 manipulator, the input end of the image processing device is in signal connection with the output end of the control system, and the input end of the image processing device is in signal connection with the input end of the control system. The control system is calibrated with a standard position in advance, the control system sends a signal to the motion servo system, the motion servo system drives the image pickup device to move together, the image pickup device moves to a shooting position according to set coordinates, the image pickup device shoots and then transmits the shooting position to the image processing software, the image processing software processes the shooting position to obtain a target position of a placed component, and the motion servo system places the component according to the coordinates. The image processing software can process the image by adopting the following processing method, the image processing software analyzes, processes and identifies the image shot by the image shooting device, identifies the characteristic region, calculates the pixel point position of the characteristic region and the standard image obtained in advance, obtains the distance difference value or logic control value between the pixel point position of the characteristic region and the standard image, sends the difference value or logic control value to the control system, and the control system controls the X-axis movement of the manipulator according to the difference value. In the invention, a control system adopts a PLC (programmable logic controller), such as Siemens S7-1500PLC, an image pickup device can adopt Basile AC2500-14GM type 500 ten-thousand pixels and 0.1mm resolution imaging equipment, a lens is selected to see a working distance, a working distance of about 350mm is selected, and MATLAB software is adopted to analyze a mathematical model for modeling and analysis.
The two groups of cameras serving as the position acquisition devices are respectively arranged at the corners of the frame body, the two groups of cameras are diagonally arranged, and the cameras are connected with the control device through signals. It is also possible to provide only one set of cameras.
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 drive of the high-temperature cloth driving device.
The high-temperature cloth transmission device generally adopts the following structure, the high-temperature cloth transmission device comprises a transmission chain and a transmission chain wheel which are positioned at two sides of a frame, wherein the transmission chain is vertically provided with a pull rod 100 in the transmission direction of the high-temperature cloth, one end or two ends of the high-temperature cloth can be provided with the transmission chain which is connected with the two sides oppositely, a position sensor is arranged at the feeding end and/or the discharging end of the frame, a detection element is arranged on the pull rod, the position of the high-temperature cloth is detected by 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 high-temperature cloth to move stops rotating, so that the position of stopping the high-temperature cloth every time is relatively fixed.
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 component is transmitted to the front part of the high-temperature cloth by the material transmission device 400, the manipulator grabs the battery component and then moves along the cross beam, the camera and the manipulator synchronously move, the camera acquires a side line formed between the jig and the high-temperature cloth or an area graph formed by the adjacent side parts of the jig, and transmits the side line or the area graph to the image processing system, the image processing system determines the distance required to move by the manipulator according to the pixel position difference, the distance signal is transmitted to the control system, the control system controls the manipulator to move corresponding distance, and the battery component is placed on the high-temperature cloth. The battery assembly is positioned by the height and shape of the jig and supports the silicone 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 assembly is conveniently placed in place only by fine adjustment when the manipulator discharges the battery assembly. 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 grabbing and placing the battery assembly by the clamping jaw, a jacking device is arranged below the transmission platform, the jacking device comprises a thimble 602 and a thimble driving device 601 for driving the thimble to reciprocate perpendicular to the transmission platform 2, the thimble driving device is located below the transmission platform 2, a thimble hole 603 is formed in the position of the transmission platform, corresponding to the thimble, of 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 placement position of the battery assembly, each group of thimbles corresponds to one battery assembly, 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 provided with the high-temperature cloth of the jig to be higher than other parts, so that the position mark can be easily distinguished by vision, the position of the battery assembly can be obtained more accurately, and because the high-temperature cloth is a flexible silica gel plate, the part not jacked by the thimble extends downwards, when the battery assembly 1 is placed, the battery assembly is higher than other positions, the clamping jaw is convenient to act, and the clamping jaw can not 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 the contact between the silica gel plate and the upper surface of the battery assembly is not resistant, so that the contact between the corner silicon corner plate and the battery assembly is more uniform, the phenomenon of sudden stress in corners caused by uneven pressure can be reduced, and bubbles are easier to remove. In order to solve the technical problems that the service life of a battery is influenced because the thickness of the dual-wave assembly is large and bubbles are not easy to remove, and meanwhile, the technical problems that the dual-wave assembly is not uniformly deformed and is easy to warp when the dual-wave assembly directly enters a high-temperature lamination cavity from low temperature are solved.
In a more preferred scheme, the feeding table high-temperature cloth and the main machine layer high-temperature cloth are integrally arranged, so that integral linkage large circulation is realized.
In the invention, the control device preferably adopts a PLC, the position sensor and the camera are respectively connected with the input end of the PLC through electric signals, the vision software analyzes and processes the position of the jig obtained by the camera, and the position information controls the manipulator to move along the x-axis to place the battery assembly into a space formed by the jig.
Claims (7)
1. The battery pack feeding system comprises a transmission platform (2) arranged on a frame (500), a high-temperature cloth conveying belt is arranged on the transmission platform, the high-temperature cloth conveying belt moves on the transmission platform, and the battery pack feeding system is characterized by further comprising a manipulator and a vision system composed of a position acquisition device (300), an image processing system and a control system, wherein a cross beam (201) is arranged above the transmission platform along the transmission direction of the battery pack, the position acquisition device comprises an image acquisition device, the image acquisition device and the manipulator are arranged on the cross beam and can reciprocate along the length direction of the cross beam, the control system is electrically connected with the image processing system, the vision system recognizes the position information of the edges or the corners of the strips on the high-temperature cloth conveying belt, the control system controls the manipulator to move on the cross beam according to the position information of the edges or the corners of the strips recognized by the image recognition system, the high-temperature cloth conveying belt comprises a high-temperature cloth body, the upper surface of the high-temperature cloth body is provided with two-group jigs, the strips in each-group jig are arranged in parallel at a certain interval, each jig is flexible and takes the shape of the high-temperature cloth, and the strips are at least one-color of the high-temperature cloth is different from the edges of the strips.
2. The battery assembly feeding system according to claim 1, wherein the manipulator and the image capturing device synchronously displace on the cross beam, the manipulator comprises a grabbing device (203), an X-axis driving device (216) and a longitudinal axis driving device (215), the grabbing device (203) is connected by the output end of the longitudinal axis driving device (215) so as to drive the grabbing device to reciprocate along the longitudinal axis, and the longitudinal axis driving device (215) and the grabbing device are connected by the output end of the X-axis driving device (216) so as to drive the longitudinal axis driving device (215) to reciprocate along the X-axis of the manipulator; the gripping device comprises a frame body (204), gripping claws (205), a reciprocating driving device (206) and gripping fingers (207), the gripping claws (205) are respectively arranged on two sides of a longitudinal beam (202), the gripping claws are vertically arranged in the direction of the z axis and the direction of the X axis of the manipulator, the gripping claws on two sides are formed into a plane, each gripping claw 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 gripping claws on two sides to reciprocate relatively or reversely along the direction of the X axis of the manipulator, each gripping claw is provided with at least one gripping finger (207), the gripping fingers (207) are of a bending structure, one bending end of the gripping claws is fixedly connected with the gripping claws on the corresponding side, the distance between the other end of the gripping claws is larger than the thickness of a battery assembly, and the gripping claws on two sides are oppositely arranged when the reciprocating driving claws are driven by the reciprocating driving device, the gripping claws can grip and hold the battery assembly or withdraw the battery assembly from the lower side of the battery assembly.
3. The battery pack feeding system according to claim 1, wherein a plurality of thimble holes (603) are formed in the transmission platform and perpendicular to the transmission platform, thimbles (602) are vertically arranged in the thimble holes, and 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 thimbles.
4. The battery assembly loading system of claim 1, wherein the thickness of the jig is equal to or slightly less than the height of the battery assembly.
5. The battery assembly loading system of claim 1, wherein the jig is disposed along a length direction and/or a width direction of the high temperature cloth body.
6. The battery assembly loading system of claim 1, wherein the cross section of the jig is circular arc, elliptical arc, triangular.
7. The battery pack feeding system according to claim 1, wherein the jig comprises a strip-shaped connecting belt (106), arc-shaped protrusions (107) are respectively arranged on two sides of the connecting belt along the length direction of the connecting belt, the arc-shaped protrusions are arc-shaped strips respectively arranged on two sides of the connecting belt or annular sleeves respectively formed into a strip shape on two side edges of the connecting belt, cylindrical core strips are inserted into the annular sleeves to form arc-shaped protrusions, and the cylindrical core strips are flexible.
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