CN116038717A - Method for quickly positioning mechanical arm in photovoltaic inserting sheet - Google Patents
Method for quickly positioning mechanical arm in photovoltaic inserting sheet Download PDFInfo
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- CN116038717A CN116038717A CN202310330952.9A CN202310330952A CN116038717A CN 116038717 A CN116038717 A CN 116038717A CN 202310330952 A CN202310330952 A CN 202310330952A CN 116038717 A CN116038717 A CN 116038717A
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- mechanical arm
- photovoltaic
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- inserting sheet
- quickly positioning
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 229910002804 graphite Inorganic materials 0.000 claims abstract description 28
- 239000010439 graphite Substances 0.000 claims abstract description 28
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 230000036544 posture Effects 0.000 claims abstract description 3
- 238000012795 verification Methods 0.000 claims abstract description 3
- 238000012360 testing method Methods 0.000 claims description 33
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000008569 process Effects 0.000 description 7
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 6
- 229910052710 silicon Inorganic materials 0.000 description 6
- 239000010703 silicon Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 238000007747 plating Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002161 passivation Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 229910021419 crystalline silicon Inorganic materials 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000623 plasma-assisted chemical vapour deposition Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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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
Abstract
The invention discloses a method for quickly positioning a mechanical arm in a photovoltaic inserting sheet, and relates to a positioning method. The purpose is to provide a quick positioning method with labor saving, high teaching efficiency and accuracy. The method for quickly positioning the mechanical arm in the photovoltaic inserting sheet comprises the following steps of: when the mechanical arm leaves the factory, normal factory calibration and detection are carried out on the mechanical arm, and absolute precision error calibration and recording are carried out on the mechanical arm under different load qualities and different poses by utilizing a laser tracker; establishing and storing a workpiece coordinate system of the graphite boat by using a three-point method in a photovoltaic inserting sheet scene; selecting one or two insert point positions to teach point positions and postures, and storing coordinates of the insert point under a workpiece coordinate system and a mechanical arm base coordinate system; automatically generating the pose of other inserting sheet point positions according to the size information of the graphite boat, the workpiece coordinate system and the inserting sheet teaching point position system, and measuring the absolute precision error of the point position by using a laser tracker to perform interpolation compensation; and performing final point location verification.
Description
Technical Field
The invention relates to the technical field of mechanical arm positioning, in particular to a method for quickly teaching and positioning a mechanical arm in a photovoltaic inserting sheet scene.
Background
With the development of photovoltaic power generation technology and the increasing requirements of people on the photoelectric conversion efficiency of crystalline silicon batteries, people start to research the technology of back passivation solar cells.
The main current method of battery passivation technology is to use plate PECVD to perform film plating treatment on the back of a silicon wafer, wherein the equipment mainly uses an industrial mechanical arm to place the silicon wafer at three clamping points in a graphite boat, and then the graphite boat is sent into film plating equipment to perform film plating treatment. The width of the graphite boat stuck point groove is set to be smaller, and the width is about 0.25mm. In the process of inserting the sheets, if the point position error of the mechanical arm is larger, the silicon wafer and the graphite boat wall are easily rubbed or collided with the graphite boat, so that one surface of the silicon wafer, which is close to the graphite boat wall, is scratched or a notch is formed at the edge of the silicon wafer, and the performance of the battery is further affected.
The point position of current industry arm photovoltaic inserted sheet is mainly through the mode of manual teaching, carries out manual teaching to every inserted sheet point position of graphite boat promptly, when a graphite boat has N slot, needs to carry out 2N times teaching. The mode is low in working efficiency and high in working strength, and the silicon wafer is easily scratched and bumped due to manual errors, so that the failure of coating is caused.
Disclosure of Invention
Based on the above-mentioned problems, it is necessary to provide a method for quickly positioning a mechanical arm in a photovoltaic tab. The invention aims to solve the problems of large workload, low teaching efficiency, easy error and the like when the point position is manually taught in the photovoltaic inserting process.
The invention discloses a method for quickly positioning a mechanical arm in a photovoltaic inserting sheet, which comprises the following steps of:
s10, carrying out normal factory calibration and detection on the mechanical arm when the mechanical arm leaves the factory, and carrying out absolute precision error calibration and recording on the mechanical arm under different load qualities and different poses by utilizing a laser tracker;
s20, establishing and storing a workpiece coordinate system of the graphite boat by using a three-point method in a photovoltaic inserting sheet scene;
s30, selecting one or two insert point positions to teach point positions and postures, and storing coordinates of the insert point under a workpiece coordinate system and a mechanical arm base standard system;
s40, automatically generating the pose of other inserting sheet point positions according to the size information of the graphite boat, the workpiece coordinate system and the inserting sheet teaching point position system, and performing interpolation compensation by measuring the absolute precision error of the point position by using the laser tracker in the step S10;
s50, performing final point location verification.
The invention discloses a method for quickly positioning a mechanical arm in a photovoltaic inserting sheet, wherein the obtaining of absolute precision errors in step S10 comprises the following steps:
s11, determining a test point according to the actual working condition of the photovoltaic inserting sheet;
s12, the mechanical arm is subjected to scene load installation, the mechanical arm is calibrated by using a laser tracker, the pose relation between the mechanical arm and the scene load is obtained, the mechanical arm is enabled to run to the test point position generated in the step S11, the actual position reached by the tail end of the mechanical arm is obtained by using the laser tracker, the actual position error of the mechanical arm at the point position is obtained by comparing the actual position with the theoretical position, and the error value of the position is stored;
s13, repeating the step S12 until all the test points are measured, and recording and storing absolute precision error values of all the test points.
According to the method for quickly positioning the mechanical arm in the photovoltaic inserting sheet, the test space formed by the test points completely covers the working space of the photovoltaic inserting sheet.
According to the method for quickly positioning the mechanical arm in the photovoltaic inserting sheet, when the scene working space requirement cannot be determined, the test points are designed into a solid point matrix.
According to the method for quickly positioning the mechanical arm in the photovoltaic inserting sheet, when no scene load information exists, a plurality of groups of specified loads are tested, and the quality of the loads is set in an arithmetic series or an arithmetic series mode.
The method for quickly positioning the mechanical arm in the photovoltaic inserting sheet is different from the prior art in that the method for quickly positioning the mechanical arm in the photovoltaic inserting sheet adopts laser calibration to carry out data compensation on the tail end, so that the precision of the photovoltaic inserting sheet can be greatly improved, and the reject ratio of products is reduced; the invention can effectively solve the problem of overlarge workload caused by point position teaching in the process of the photovoltaic plugboard, and the mechanical arms in the same batch can only calibrate one or two of the mechanical arms during laser calibration, thereby improving the overall debugging efficiency; the invention can effectively reduce the collision caused by human error in the teaching process of the mechanical arm and reduce the loss of users; the invention effectively solves the problem of the re-teaching of the mechanical arm point positions caused by the change of the structure of the graphite boat, and improves the usability of products.
The method for quickly positioning the mechanical arm in the photovoltaic inserting sheet is further described below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of a laser tracker and a mechanical arm in a method for quickly positioning the mechanical arm in a photovoltaic tab of the present invention;
FIG. 2 is a schematic diagram of a test point placement in a method for quickly positioning a mechanical arm in a photovoltaic tab of the present invention;
FIG. 3 is a schematic view of the structure of a graphite boat installed in the method for quickly positioning a mechanical arm in a photovoltaic tab of the present invention;
FIG. 4 is a schematic view of a graphite boat in the fast positioning of a mechanical arm in a photovoltaic tab of the present invention;
the labels in the figures are: 1-a mechanical arm; 2-loading; 3-a laser tracker; 4-testing the point positions; 5-graphite boat; 6-adsorption assembly.
Detailed Description
The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
As shown in fig. 1-4, the method for quickly positioning the mechanical arm in the photovoltaic inserting sheet comprises the following steps:
s10, after debugging and testing are completed, the mechanical arm 1 determines a test point position 4 according to the actual working condition of the photovoltaic inserting sheet, and a test space formed by the test point position 4 is required to completely cover the working space of the photovoltaic inserting sheet. In the actual test process, if the application scene of the insert has higher absolute precision requirement, the test point position 4 can be designed more tightly so as to improve the overall precision; if the absolute precision requirement is not high, the design of the testable point location 4 is sparser, so that the test efficiency is improved; when the scene working space requirement cannot be determined, the test point 4 can be designed into a three-dimensional point matrix, and all scene working points are enveloped by using the space as large as possible.
S20, installing a scene load 2 on the mechanical arm 1, calibrating the mechanical arm 1 by using the laser tracker 3 to obtain a pose relation between the scene load 2 and the mechanical arm 1, enabling the mechanical arm 1 to run to a test point generated in the step S10, measuring the actual arrival position of the tail end of the mechanical arm 1 by using the laser tracker 3, comparing the actual arrival position with a theoretical position to obtain an actual position error of the mechanical arm 1 at the point, and storing the error value of the position.
S30, repeating the step S20 until all the test points are measured, and recording and storing absolute precision error values of all the test points. If there is no scene load information, several groups of specified loads can be tested, the mass of the groups of loads can be set according to a certain rule, such as an arithmetic series or an arithmetic series, the loads are installed, the test is performed by repeating the step S20, and the error of each test point of the mechanical arm 1 under the load is recorded and stored.
S40, in the photovoltaic inserting sheet scene, three points are firstly selected on the graphite boat 5, and a workpiece coordinate system is established for the graphite boat 5 by using a three-point method, so that pose description of the graphite boat 5 under the robot base standard system can be obtained. After the mechanical arm 1 finishes taking materials from the flower basket, the adsorption component 6 with the battery piece stretches into the graphite boat 5 body, an initial point position is adjusted by utilizing a manual teaching mode, at the moment, the system can automatically adjust out the point position error recorded in the step S30, the error of the mechanical arm 1 under the current gesture is calculated by utilizing a formula, the system can automatically store the error value for subsequent compensation, and the error calculation formula of the point is as follows:
in the formula e ix 、e iy 、e iz For the absolute accuracy error calculated by the mechanical arm 1 at the point position, t e1x 、t e2x An error value, a, of absolute accuracy of two test points closest to the inserting point of the mechanical arm 1 in the x-axis direction x 、b x For the distance between the point of the inserting piece and the test point in the x-axis direction, l x The other parameters are the same for the distance between the two test points in the x-axis direction.
S50, inputting 3D data of the graphite boat 5 into a system, automatically calculating pose descriptions of other insert points under a mechanical arm base standard system by the system according to model data of the graphite boat 5, initial insert point positions and an established graphite boat workpiece coordinate system, and compensating newly generated insert point positions by utilizing errors of the initial insert points calculated in the step S40, wherein a compensation calculation formula is as follows:
wherein p is cx For calculating the instruction value, p, of the insertion point position under the robot base standard system ix For the initial tab point position of step S40, e ix To insert the error of the point in the x-axis direction, p ox For the offset of the new point along the x-axis of the base mark system, e cx For the error value of the new point in the x-axis direction, the calculation formula is as follows:
by the method, the complete photovoltaic inserting sheet can be rapidly completed.
The operation mechanism of the method for quickly positioning the mechanical arm in the photovoltaic inserting sheet is as follows: the industrial mechanical arm firstly performs normal calibration and detection when leaving a factory, and simultaneously performs absolute positioning accuracy detection under different loads and different poses after the calibration is completed, and obtains absolute accuracy errors of the mechanical arm under the poses and the loads through measurement, saves data and is used for point position compensation when photovoltaic inserting sheets. When a photovoltaic inserting sheet scene is operated, a workpiece coordinate system of a graphite boat is established by a three-point method, manual point position teaching is carried out on a first point position of the photovoltaic inserting sheet by a mechanical arm manual teaching mode, at the moment, the system automatically calculates the position of the tail end of the mechanical arm under a base standard system by a value fed back by a motor encoder, the deformation of the mechanical arm at the point position is automatically calculated by data stored in early factory detection, then the positions of the mechanical arms at the point positions of the rest inserting sheet are automatically calculated by a graphite boat model data system, and point position compensation is carried out by data calculated in early stage; and finally, carrying out the point position test of the inserting sheet, and if no problem exists, completing the teaching of the point position of the photovoltaic inserting sheet.
The method for quickly positioning the mechanical arm in the photovoltaic inserting sheet has the following advantages:
the invention can effectively solve the problem of overlarge workload caused by point position teaching in the process of the photovoltaic plugboard, and the mechanical arms in the same batch can only calibrate one or two of the mechanical arms during laser calibration, thereby improving the overall debugging efficiency;
according to the invention, as the data compensation is carried out on the tail end by adopting laser calibration, the precision of the photovoltaic inserting sheet can be greatly improved, and the reject ratio of products is reduced;
the invention can effectively reduce the collision caused by human error in the teaching process of the mechanical arm and reduce the loss of users;
the invention effectively solves the problem of the re-teaching of the mechanical arm point positions caused by the change of the structure of the graphite boat, and improves the usability of products.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.
Claims (5)
1. A method for quickly positioning a mechanical arm in a photovoltaic inserting sheet is characterized by comprising the following steps of: the method comprises the following steps:
s10, carrying out normal factory calibration and detection on the mechanical arm when the mechanical arm leaves the factory, and carrying out absolute precision error calibration and recording on the mechanical arm under different load qualities and different poses by utilizing a laser tracker;
s20, establishing and storing a workpiece coordinate system of the graphite boat by using a three-point method in a photovoltaic inserting sheet scene;
s30, selecting one or two insert point positions to teach point positions and postures, and storing coordinates of the insert point under a workpiece coordinate system and a mechanical arm base standard system;
s40, automatically generating the pose of other inserting sheet point positions according to the size information of the graphite boat, the workpiece coordinate system and the inserting sheet teaching point position system, and performing interpolation compensation by measuring the absolute precision error of the point position by using the laser tracker in the step S10;
s50, performing final point location verification.
2. The method for quickly positioning a mechanical arm in a photovoltaic insert according to claim 1, wherein: the obtaining of the absolute accuracy error in step S10 includes the steps of:
s11, determining a test point according to the actual working condition of the photovoltaic inserting sheet;
s12, the mechanical arm is subjected to scene load installation, the mechanical arm is calibrated by using a laser tracker, the pose relation between the mechanical arm and the scene load is obtained, the mechanical arm is enabled to run to the test point position generated in the step S11, the actual position reached by the tail end of the mechanical arm is obtained by using the laser tracker, the actual position error of the mechanical arm at the point position is obtained by comparing the actual position with the theoretical position, and the error value of the position is stored;
s13, repeating the step S12 until all the test points are measured, and recording and storing absolute precision error values of all the test points.
3. The method for quickly positioning a mechanical arm in a photovoltaic insert according to claim 2, wherein: and the test space formed by the test points completely covers the working space of the photovoltaic inserting sheet.
4. The method for quickly positioning a mechanical arm in a photovoltaic insert according to claim 2, wherein: when the scene work space requirement cannot be determined, the test points are designed into a solid point matrix.
5. The method for quickly positioning a mechanical arm in a photovoltaic insert according to claim 2, wherein: when there is no information of scene load, several groups of specified loads are tested, and the mass of the load is set in the form of an arithmetic series or an arithmetic series.
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| CN202310330952.9A CN116038717A (en) | 2023-03-31 | 2023-03-31 | Method for quickly positioning mechanical arm in photovoltaic inserting sheet |
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| CN202310330952.9A CN116038717A (en) | 2023-03-31 | 2023-03-31 | Method for quickly positioning mechanical arm in photovoltaic inserting sheet |
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2023
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Patent Citations (10)
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Application publication date: 20230502 |