A flexible photovoltaic module assembly production system and application method thereof

Abstract

The present invention relates to a flexible photovoltaic assembly production system in the field of semiconductor device technology, including a server, a manipulator, a substrate, a flexible photovoltaic panel, a processing module, a flexible adsorption module, an evaluation module and an assembly bonding module, wherein the flexible adsorption module is loaded on the execution end of the manipulator; the processing module processes the substrate and the flexible photovoltaic panel, and collects the shape data of the substrate, the evaluation module evaluates the substrate according to the shape data of the substrate to form an evaluation result, the flexible adsorption module adsorbs the flexible photovoltaic panel according to the evaluation result, and transfers and abuts it on the substrate, and the assembly bonding module assembles and bonds the abutting flexible photovoltaic panel and the substrate. The present invention reduces the time of manual adjustment and trial and error in the traditional production process through the mutual cooperation of the processing module and the evaluation module, and ensures that the entire system has the advantages of high intelligence, strong adaptive ability of the flexible photovoltaic panel, reduced manual intervention and high production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor devices, and in particular to a flexible photovoltaic module assembly production system and an application method thereof. Background Art

[0002] Traditional photovoltaic module production is mostly based on rigid materials, which are difficult to adapt to irregular shapes or complex surfaces, limiting the widespread application of flexible photovoltaic modules. Existing flexible photovoltaic module manufacturing technology faces problems such as low assembly efficiency, insufficient automation, and unstable module quality.

[0003] For example, the flexible thin-film photovoltaic panel production system disclosed in Chinese patent CN221668854U provides specific photovoltaic panel loading and layout processes, but cannot adapt to curved or complex-shaped bases, resulting in poor adaptability and low assembly efficiency in the photovoltaic panel assembly process.

[0004] Meanwhile, the prior art still has the following problems:

[0005] 1) Traditional photovoltaic module production lines are mostly rigid in design and difficult to adapt to the processing of flexible materials. The existing level of automation is low, which is prone to problems such as inaccurate positioning, easy deformation of components, and low efficiency, which affects the production quality and efficiency of the components.

[0006] 2) Existing production technologies cannot effectively handle these non-planar or irregular-shaped bases, making it difficult for flexible photovoltaic modules to accurately fit the base surface during installation. Traditional clamping technology is usually used for rigid modules and cannot effectively clamp and fix flexible materials and irregular-shaped bases.

[0007] 3) The existing flexible photovoltaic module production lines generally have a low degree of automation, and the assembly process often requires manual intervention or manual adjustment, resulting in low production efficiency. In addition, the softness of the flexible components makes them prone to deformation or displacement during the transmission, arrangement, and assembly process, further affecting the efficiency and yield rate of the production line.

[0008] The present invention is made to solve the common problems in the field such as low automation, insufficient precision, inability of the clamping system to adapt to irregular bases, and poor adaptability when facing complex surface installation. Summary of the invention

[0009] The purpose of the present invention is to address the current deficiencies and propose a flexible photovoltaic module assembly production system and an application method thereof.

[0010] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0011] A flexible photovoltaic module assembly production system, comprising a server, a manipulator, a substrate, and a flexible photovoltaic panel, the flexible photovoltaic module assembly production system also comprising a processing module, a flexible adsorption module, an evaluation module, and an assembly bonding module, the server is respectively connected to the processing module, the flexible adsorption module, the evaluation module, and the assembly bonding module, and the flexible adsorption module is loaded on the execution end of the manipulator;

[0012] The processing module processes the substrate and the flexible photovoltaic panel and collects shape data of the substrate. The evaluation module evaluates the substrate according to the shape data of the substrate to form an evaluation result. The flexible adsorption module adsorbs the flexible photovoltaic panel according to the evaluation result, and transfers and abuts the flexible photovoltaic panel on the substrate. The assembly and bonding module assembles and bonds the abutting flexible photovoltaic panel and the substrate.

[0013] Wherein, the processing module includes a cleaning unit, an α transport unit, a β transport unit and a collection unit, the α transport unit transports the substrate so that the substrate enters the α cleaning station and the assembly station, the β transport unit transports the flexible photovoltaic panel so that the flexible photovoltaic panel enters the β cleaning station, the cleaning unit cleans the substrate entering the α cleaning station and the flexible photovoltaic panel in the β cleaning station, the collection unit is arranged in the α cleaning station and collects shape data of the substrate, the α cleaning station and the assembly station are sequentially established along the transport direction of the α transport unit, and the β cleaning station is arranged on the β transport unit;

[0014] Wherein, the manipulator is arranged between the α transport unit and the β transport unit, and the assembly and bonding module is arranged in the α transport unit.

[0015] Optionally, the cleaning unit includes a cleaning member and an attachment member, the cleaning member is used to clean dirt on the substrate and the flexible photovoltaic panel, and the attachment member adsorbs dirt on the substrate and the flexible photovoltaic panel;

[0016] The cleaning component includes a cleaning roller, a support seat, an adjustment rod, an adjustment drive mechanism, and a cleaning drive mechanism. The cleaning rollers are respectively arranged above the substrate and the flexible photovoltaic panel. The cleaning drive mechanism is driven and connected to the cleaning roller to form a cleaning part. The cleaning part is arranged on the support seat so that one end of the cleaning roller extends above the substrate and the flexible photovoltaic panel. One end of the adjustment rod is driven and connected to the adjustment drive mechanism to form an adjustment part. The adjustment part is respectively arranged on one side of the transport direction of the α transport unit and the β transport unit, and cleans the transported substrate and the flexible photovoltaic panel.

[0017] Optionally, the α transport unit comprises an α transport belt, an α transport driving mechanism, an α transport frame, and a limiting member loaded on the α transport belt, the α transport driving mechanism is drivingly connected to the α transport belt to form an α transport part, and the α transport part is arranged on the α transport frame;

[0018] The limiting components are evenly spaced along the length direction of the α conveyor belt to form a loading portion, and the loading portion is used to load the substrate and limit the substrate.

[0019] Optionally, the collection unit includes an optical collection component and a posture adjustment component, the posture adjustment component adjusts the position of the optical collection component, and the optical collection component collects the shape data of the substrate;

[0020] Wherein, the collection unit is arranged at one side of the transport path of the α transport unit, and collects the shape data of the substrate from one side of the α transport unit.

[0021] Optionally, the evaluation module obtains the shape data and processes the shape data, wherein the processing includes contour extraction and contour point discretization, and calculates the local curvature κ (s) of the substrate at the ith position according to the following formula: i ) and height difference H (s i ):

[0022] ;

[0023] In the formula, (x i ,y i ) is the coordinate of the i-th reference point on the substrate contour, (x i−1 ,y i−1 ) is the previous contour point of the i-th reference point, (x i+1 ,y i+1 ) is the next contour point after the i-th reference point;

[0024] ;

[0025] In the formula, y ref is the reference horizontal line in the image, y i is the vertical coordinate of the ith point on the substrate contour;

[0026] The evaluation module calculates the local curvature κ (s i ) and height difference H (s i ) is transmitted to the flexible adsorption module, and the flexible adsorption module and the robot are triggered to adsorb the flexible photovoltaic panel and transfer it to the substrate.

[0027] Optionally, the flexible adsorption module includes an adsorption analysis unit and an adsorption unit, the adsorption analysis unit analyzes the adsorption amount and the telescopic adjustment amount of the adsorption unit according to the evaluation result to form an analysis result, and the adsorption unit adsorbs the flexible photovoltaic panel according to the analysis result to adapt to the shape of the substrate;

[0028] The adsorption unit includes an adsorption component and a telescopic component. The telescopic component adjusts the adsorption component. The adsorption component adsorbs one side of the flexible photovoltaic panel and cooperates with the robot to adsorb and transfer the flexible photovoltaic panel to the substrate.

[0029] Optionally, the assembly bonding module includes a bonding unit and a curing unit, the flexible photovoltaic panel is placed against the assembly gap of the substrate to form a bonding position, the bonding unit applies the adhesive on the bonding position to bond the substrate and the flexible photovoltaic panel, and the curing unit cures the adhesive in the bonding position;

[0030] The curing unit includes a curing component and a preheating component. The preheating component preheats the bonding position and the adhesive, and the curing component cures the bonding position and the adhesive.

[0031] In addition, the present invention also provides a flexible photovoltaic module assembly production method, the flexible photovoltaic module assembly production method comprising the following steps:

[0032] S1, placing the substrate and the flexible photovoltaic panel on the α transport unit and the β transport unit respectively, and transporting them through the α transport unit and the β transport unit respectively;

[0033] S2, the collecting unit collects shape data of the substrate transported by the α transport unit;

[0034] S3, the evaluation module evaluates the substrate according to the shape data to form an evaluation result;

[0035] S4, the flexible adsorption module adsorbs the flexible panel according to the evaluation result, and cooperates with the manipulator to transfer the flexible photovoltaic panel to the substrate, so that the flexible photovoltaic panel is placed against the assembly gap of the substrate to form a bonding position;

[0036] S5, the assembly bonding module applies adhesive between the substrate and the flexible photovoltaic panel, and cures the adhesive at the bonding position to form an assembled product;

[0037] S6. Performing a quality assessment on the assembled product. If the quality assessment is qualified, the assembled product is transported to the next process flow through the α transport unit.

[0038] Optionally, the flexible photovoltaic module assembly production method further includes: in step S4, analyzing the adsorption amount and the telescopic adjustment amount by the flexible adsorption module, and adsorbing the flexible photovoltaic panel according to the adsorption amount and the telescopic adjustment amount obtained by the analysis.

[0039] Optionally, the flexible photovoltaic module assembly production method further includes: loading the flexible adsorption module on the execution end of the robot, and controlling the robot to transfer the flexible photovoltaic panel to the substrate.

[0040] The beneficial effects achieved by the present invention are:

[0041] 1. Through the cooperation between the processing module and the evaluation module, the substrate shape data is accurately collected to generate the best adsorption and assembly parameters, reducing the time of manual adjustment and trial and error in the traditional production process, ensuring that the entire system has the advantages of high intelligence, strong adaptive ability of flexible photovoltaic panels, reduced manual intervention and high production efficiency;

[0042] 2. Through the cooperation between the evaluation module and the flexible adsorption module, the transfer and adsorption process of the flexible photovoltaic panel is made more reliable. The adsorption force and method are adjusted according to the shape and quality of the substrate to avoid damage or bending of the photovoltaic panel during the adsorption process, thereby reducing the waste of materials caused by improper operation during the production process, and ensuring that the entire system has the advantages of strong adaptability, high intelligence and good assembly effect;

[0043] 3. The combination of the flexible adsorption module and the evaluation module can ensure the uniform distribution of the adsorption amount, and dynamically adjust the adsorption amount according to the shape change of the substrate to avoid deformation or damage of the flexible photovoltaic panel during the installation process, ensuring that the entire system has the advantages of high automation, high assembly accuracy, strong adaptive adjustment ability and good adsorption assembly reliability;

[0044] 4. Through the cooperation between the curing unit and the bonding unit, the flexible photovoltaic panel and the substrate can be accurately assembled, ensuring that the entire system has the advantages of high loading efficiency, good loading reliability and high intelligence;

[0045] 5. Through the cooperation between the flexible adsorption module and the assembly bonding module, the assembly efficiency is more efficient, ensuring that the entire system has a high degree of intelligence, reducing the time of manual intervention, and making the entire production line more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0047] Figure 1 It is an overall block diagram of the present invention.

[0048] Figure 2 It is a schematic block diagram of the flexible adsorption module, robot, flexible photovoltaic panel, α transport unit, β transport unit and substrate of the present invention.

[0049] Figure 3 It is a block diagram of the processing module and the evaluation module of the present invention.

[0050] Figure 4 It is a block diagram of the evaluation module and the flexible adsorption module of the present invention.

[0051] Figure 5 It is a top view schematic diagram of the α transport unit, β transport unit and manipulator of the present invention.

[0052] Figure 6 for Figure 5 Schematic cross-sectional view at AA in the middle.

[0053] Figure 7 for Figure 5 Enlarged schematic diagram of point C in the middle.

[0054] Figure 8 for Figure 5 Enlarged schematic diagram of point D in the middle.

[0055] Fig. 9 It is a side view schematic diagram of the cleaning unit of the present invention cleaning a substrate.

[0056] Fig.10 for Figure 5 Enlarged schematic diagram of point E in the middle.

[0057] Fig.11 It is a side view schematic diagram of the acquisition unit of the present invention acquiring shape data of a substrate.

[0058] Fig.12 for Figure 5 Enlarged schematic diagram of point F in the middle.

[0059] Fig.13 It is a schematic diagram of the bonding path of the assembled bonding module of the present invention to the assembled flexible photovoltaic panel and the substrate.

[0060] Fig.14 This is a schematic diagram of an application scenario in which the bonding unit of the present invention is used to bond a flexible photovoltaic panel to a substrate.

[0061] Fig.15 It is a front view schematic diagram of the bonding unit of the present invention.

[0062] Fig.16 It is a schematic side view of the bonding unit of the present invention.

[0063] Fig.17 It is a cross-sectional schematic diagram of the limiting component, the α conveyor belt, and the substrate of the present invention.

[0064] Fig.18 for Fig.17 Enlarged schematic diagram of point G in the middle.

[0065] Fig.19 This is a schematic diagram of an application scenario in which the manipulator and the flexible adsorption module of the present invention adsorb a flexible photovoltaic panel.

[0066] Explanation of the accompanying drawings: 1. α conveyor belt; 2. substrate; 3. limit seat; 4. clamping airbag; 5. placement seat; 6. lifting rod; 7. collection probe; 8. placement cavity; 9. cleaning roller; 10. attachment sleeve; 11. support seat; 12. β conveyor belt; 13. flexible photovoltaic panel; 14. adjustment rod; 15. storage tank; 16. vertical rod; 17. extrusion seat; 18. sliding track; 19. sliding seat; 20. vertical seat; 21. lifting rod; 22. extrusion nozzle; 23. thickness sensor; 24. curing seat; 25. supply pipeline; 26. manipulator; 27. longitudinal identification probe; 28. vacuum suction cup; 29. ​​ejection rod; 30. rotating seat; 31. rotating drive mechanism; 32. connecting seat; 33. horizontal identification probe; 34. telescopic rod; 35. adsorption pump; 36. adsorption nozzle; 37. adsorption pipeline. DETAILED DESCRIPTION

[0067] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0068] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 and Fig.19 As shown, this embodiment provides a flexible photovoltaic module assembly production system, the flexible photovoltaic module assembly production system includes a server, a manipulator 26, a substrate 2, and a flexible photovoltaic panel 13, the flexible photovoltaic module assembly production system also includes a processing module, a flexible adsorption module, an evaluation module, and an assembly bonding module, the server is respectively connected to the processing module, the flexible adsorption module, the evaluation module, and the assembly bonding module and stores the intermediate data and process data of the processing module, the flexible adsorption module, the evaluation module, and the assembly bonding module in the database of the server, and the flexible adsorption module is loaded on the execution end of the manipulator 26;

[0069] The processing module processes the substrate 2 and the flexible photovoltaic panel 13, and collects shape data of the substrate 2; the evaluation module evaluates the substrate 2 according to the shape data of the substrate 2 to form an evaluation result; the flexible adsorption module adsorbs the flexible photovoltaic panel 13 according to the evaluation result, and transfers and abuts the flexible photovoltaic panel 13 on the substrate 2; the assembly and bonding module assembles and bonds the abutting flexible photovoltaic panel 13 and the substrate 2;

[0070] The flexible photovoltaic module assembly production system also includes a central processor, which is respectively connected to the processing module, the flexible adsorption module, the evaluation module, and the assembly bonding module, and centrally controls the processing module, the flexible adsorption module, the evaluation module, and the assembly bonding module based on the central processor, and stores the control data of the central processor in the database of the server, so as to improve the assembly efficiency and assembly accuracy of the photovoltaic modules of the entire system;

[0071] Wherein, the processing module includes a cleaning unit, an α transport unit, a β transport unit and a collection unit, the α transport unit transports the substrate 2 so that the substrate 2 enters the α cleaning station and the assembly station, the β transport unit transports the flexible photovoltaic panel 13 so that the flexible photovoltaic panel 13 enters the β cleaning station, the cleaning unit cleans the substrate 2 entering the α cleaning station and the flexible photovoltaic panel 13 in the β cleaning station, the collection unit is arranged in the α cleaning station, and collects shape data of the substrate 2, the α cleaning station and the assembly station are sequentially established along the transport direction of the α transport unit, and the β cleaning station is arranged on the β transport unit;

[0072] Wherein, the manipulator 26 is arranged between the α transport unit and the β transport unit, and the assembly bonding module is arranged in the assembly station;

[0073] Optionally, the cleaning unit includes a cleaning member and an attachment member, the cleaning member is used to clean the dirt on the substrate 2 and the flexible photovoltaic panel 13, and the attachment member adsorbs the dirt on the substrate 2 and the flexible photovoltaic panel 13;

[0074] The cleaning component includes a cleaning roller 9, a support seat 11, an adjustment rod 14, an adjustment drive mechanism, and a cleaning drive mechanism, wherein the cleaning roller 9 is respectively arranged above the substrate 2 and the flexible photovoltaic panel 13, the cleaning drive mechanism is drivingly connected to the cleaning roller 9 to form a cleaning portion, the cleaning portion is arranged on the support seat 11, so that one end of the cleaning roller 9 extends above the substrate 2 and the flexible photovoltaic panel 13, one end of the adjustment rod 14 is drivingly connected to the adjustment drive mechanism to form an adjustment portion, the adjustment portion is respectively arranged on one side of the transport direction of the α transport unit and the β transport unit, and cleans the transported substrate 2 and the flexible photovoltaic panel 13;

[0075] The attachment member includes an attachment sleeve 10 and bristles, the bristles are arranged on the attachment sleeve 10 to form an attachment portion, and have a light adhesiveness, so that the bristles can absorb dirt on the substrate 2 and the flexible photovoltaic panel 13, and the attachment portion is nested on the cleaning roller 9 and rotates with the rotation of the cleaning roller 9;

[0076] In this embodiment, the cleaning roller 9 rotates along its own axis on the driving line of the cleaning drive mechanism, thereby driving the attachment sleeve 10 to gently contact the flexible photovoltaic panel and the substrate, thereby absorbing the dirt;

[0077] Optionally, the α transport unit includes an α transport belt 1, an α transport driving mechanism, an α transport frame, and a limiting member loaded on the α transport belt 1, the α transport driving mechanism is drivingly connected to the α transport belt 1 to form an α transport part, and the α transport part is arranged on the α transport frame;

[0078] The limiting components are evenly spaced along the length direction of the α conveyor belt 1 to form a loading portion, and the loading portion is used to load the substrate 2 and limit the substrate 2;

[0079] The limiting component includes a limiting seat 3, a placement cavity 8 opened along the upper end surface of the limiting seat 3, an ejection rod 29, an ejection drive mechanism, a rotating seat 30, a rotation drive mechanism 31, a clamping airbag 4, an air pump, a hidden cavity, and an electronic deflation valve. The air pump is connected to the clamping airbag 4 by a pipeline to form a clamping portion. The hidden cavity is arranged on the side wall of the placement cavity 8 and is used for the clamping portion to be placed. The electronic deflation valve is arranged in the clamping airbag 4 and discharges the gas in the clamping airbag 4 based on the control of the central processing unit. The rotating seat 30 is hinged to the bottom wall of the placement cavity 8. The rotation drive mechanism 31 is arranged in the placement cavity 8, and the rotation drive mechanism 31 is drivingly connected to the rotating seat 30 and drives the rotating seat 30 to rotate along the axis of the hinged position.

[0080] One end of the ejection rod 29 is drivingly connected to the ejection driving mechanism to form an ejection portion, and the other end of the ejection rod 29 extends toward a side away from the bottom wall of the placement cavity 8. The ejection portion is arranged on the rotating seat 30, and rotates along its own axis following the rotating seat 30 under the rotation of the rotating driving mechanism 31;

[0081] In addition, the limiting member further includes a vacuum suction cup 28, which is disposed at one end of the ejection rod 29 and adsorbs the outer surface of the substrate 2 and the flexible photovoltaic panel 13;

[0082] When the substrate 2 and the flexible photovoltaic panel 13 are placed in the placement cavity 8, the clamping airbag 4 is triggered to clamp the substrate 2, so that the substrate 2 and the flexible photovoltaic panel 13 are limitedly clamped in the placement cavity 8;

[0083] At the same time, in the process of the α conveyor belt 1 clamping and transporting the substrate 2 and the flexible photovoltaic panel 13, the air pump inflates the clamping airbag 4, so that the clamping airbag 4 inflates and expands, thereby clamping the substrate 2 and the flexible photovoltaic panel 13;

[0084] In this embodiment, during the clamping process of the substrate 2 and the flexible photovoltaic panel 13, the inflation amount of the clamping airbag 4 is inconsistent, that is, there is an inflation amount dedicated to the substrate 2, and similarly, there is an inflation amount dedicated to the flexible photovoltaic panel 13;

[0085] In addition, when in the assembled state, the clamping airbag 4 releases the clamping state of the substrate 2 and the flexible photovoltaic panel 13 under the deflation operation of the electronic deflation valve, and the placement cavity 8 is protruded under the pushing operation of the pushing part, and the substrate 2 and the flexible photovoltaic panel 13 are cleaned under the cleaning operation of the cleaning component;

[0086] The β transport unit includes a β transport belt 12, a β transport driving mechanism, and a β transport frame. The β transport driving mechanism is drivingly connected to the β transport belt 12 to form a β transport part, and the β transport part is arranged on the β transport frame;

[0087] Optionally, the collection unit includes an optical collection component and a posture adjustment component, the posture adjustment component adjusts the position of the optical collection component, and the optical collection component collects the shape data of the substrate 2;

[0088] Wherein, the collection unit is arranged at one side of the transport path of the α transport unit, and collects the shape data of the substrate 2 from one side of the α transport unit;

[0089] The optical collection component includes a collection probe 7, a placement seat 5 and a data storage device. The collection probe 7 collects shape data of the substrate 2 from the side of the substrate 2. In this embodiment, the shape data specifically refers to image data including the outer shape of the substrate 2. The placement seat 5 is used for the collection probe 7 to be placed, and the data storage device stores the shape data collected by the collection probe 7.

[0090] like Fig.11 As shown, the posture adjustment component includes a lifting rod 21, a lifting drive mechanism and a lifting detection member, one end of the lifting rod 21 is connected to the lifting drive mechanism to form a lifting portion, and the other end of the lifting rod 21 is connected to the outer wall of the placement seat 5, the lifting drive mechanism detects the lifting height of the lifting rod 21, and feeds back to the central processor, and the lifting drive mechanism is controlled by the central processor, so as to realize the collection of shape data of the substrates 2 of different models and sizes;

[0091] In this embodiment, different types of substrates 2 correspond to different collection heights, so it is necessary to select an appropriate collection height for different types of substrates 2;

[0092] At the same time, the lifting rod 21 is set as a retractable structure, and under the driving operation of the lifting drive mechanism, the lifting action is realized, thereby changing the position of the placement seat 5 and the collection probe 7, and improving the adaptive adjustment ability of the entire system;

[0093] Optionally, the evaluation module obtains the shape data and processes the shape data, wherein the processing includes contour extraction and contour point discretization, and calculates the local curvature κ (s) of the substrate at the ith position according to the following formula: i ) and height difference H (s i ):

[0094] ;

[0095] In the formula, (x i ,y i ) is the coordinate of the i-th reference point on the substrate contour, (x i−1 ,y i−1 ) is the previous contour point of the i-th reference point, (x i+1 ,y i+1 ) is the next contour point after the i-th reference point; in this embodiment, (x i−1 ,y i−1 ) 、 (x i ,y i ) and (x i+1 ,y i+1 ) are the coordinates of adjacent and continuous pixel points on the substrate contour;

[0096] ;

[0097] In the formula, y ref is a reference horizontal line in the image. In this embodiment, Fig.14 As shown, the bottom of the image is taken as y ref ,y i is the vertical coordinate of the ith point on the substrate contour;

[0098] The evaluation module calculates the local curvature κ (s i ) and height difference H (s i ) is transmitted to the flexible adsorption module, and the flexible adsorption module and the manipulator are triggered to adsorb the flexible photovoltaic panel and transfer it to the substrate;

[0099] In this embodiment, through the cooperation between the processing module and the evaluation module, the shape data of the substrate 2 is accurately collected to generate the best adsorption and assembly parameters, which reduces the time of manual adjustment and trial and error in the traditional production process, and ensures that the whole system has the advantages of high intelligence, strong adaptive ability of the flexible photovoltaic panel 13, reduced manual intervention and high production efficiency;

[0100] Optionally, the flexible adsorption module includes an adsorption analysis unit and an adsorption unit, the adsorption analysis unit analyzes the adsorption amount and the telescopic adjustment amount of the adsorption unit according to the evaluation result to form an analysis result, and the adsorption unit adsorbs the flexible photovoltaic panel 13 according to the analysis result to adapt to the shape of the substrate 2;

[0101] The adsorption unit includes an adsorption member and a telescopic member, the telescopic member adjusts the adsorption member, the adsorption member adsorbs one side of the flexible photovoltaic panel 13, and cooperates with the manipulator 26 to adsorb and transfer the flexible photovoltaic panel 13 to the substrate 2;

[0102] The adsorption component includes an adsorption nozzle 36, an adsorption pump 35, an adsorption pipe 37, and a connection seat 32. The connection seat 32 is provided with a storage cavity for placing the adsorption nozzle 36 and the adsorption pump 35. One end of the adsorption pipe 37 is connected to the adsorption nozzle 36, and the other end of the adsorption pipe 37 is connected to the adsorption pump 35 to form an adsorption part. The adsorption part is arranged in the storage cavity, and the adsorption nozzle 36 protrudes from the upper end surface of the connection seat 32, so as to achieve the surface of the flexible photovoltaic panel 13;

[0103] The telescopic member includes a telescopic rod 34, a telescopic driving mechanism, a telescopic detection member, and a locking seat. One end of the telescopic rod 34 is connected to the connecting seat 32, and the other end of the connecting rod is drivingly connected to the telescopic driving mechanism to form a telescopic portion, which is arranged on the upper end surface of the locking seat. The telescopic detection member detects the telescopic length of the telescopic rod 34 and feeds back to the central processor, so that the central processor controls the telescopic adjustment amount of the telescopic rod 34 and the adsorption amount of the adsorption nozzle 36 according to the adsorption analysis unit.

[0104] The adsorption analysis unit obtains the local curvature κ (s i ) of the i-th position of the flexible photovoltaic panel evaluated by the evaluation module. i ) and height difference H (s i ) and calculate the telescopic adjustment amount ΔL at the i-th position according to the following formula i :

[0105] ;

[0106] In the formula, κ (s i ) is the local curvature at the ith position, H(s i ) is the height difference of the i-th position, θ i is the angle of the i-th position, C is the reference expansion constant of the telescopic rod, which indicates the initial reference expansion, and controls the overall expansion range of the telescopic rod. In this embodiment, the reference expansion constant C of the telescopic rod is determined according to the maximum bending requirement of the flexible photovoltaic panel; that is, in the area where expansion is most needed, the curvature of the substrate is the largest, and the expansion of the telescopic rod should also reach the maximum; if the maximum expansion ΔL at the maximum bending position is known max , then the reference telescopic constant C of the telescopic rod is calculated in reverse according to the formula;

[0107] If the design requires that the maximum bending position θ max When a certain amount of expansion and contraction ΔL is reached max , the base expansion constant C of the telescopic rod can be calculated using the following formula:

[0108] ;

[0109] Where C is the reference expansion constant of the telescopic rod, Δl max is the maximum expansion, κ(s max ) is the local curvature at the maximum bending position, H(s max ) is the height difference of the maximum bending position, θ max is the angle at the maximum bending position;

[0110] For the angle θ of the i-th position i Calculate according to the following formula:

[0111] ;

[0112] Where N is the total number of telescopic rods, and i is the number of the current telescopic rod;

[0113] For example: if there are 6 telescopic rods in total and they are evenly distributed on the connection base, and the flexible photovoltaic panel is adsorbed and adjusted to a semicircular substrate that matches the substrate, the angle can be calculated as follows:

[0114] θ1=0°;

[0115] θ2 = 60°;

[0116] θ3 = 120°;

[0117] θ4=180°;

[0118] θ5=240°;

[0119] θ6=300°;

[0120] Applied to the present embodiment, it is suitable for adsorbing and adjusting the flexible photovoltaic panel into a shape that matches the arc or circular substrate;

[0121] The adsorption analysis unit obtains the local curvature κ (s i ) of the i-th position of the flexible photovoltaic panel evaluated by the evaluation module. i ) and height difference H (s i ) and calculate the adsorption amount F at the i-th position according to the following formula i :

[0122] ;

[0123] Where, F0 is the basic adsorption force of the adsorption nozzle, and its value is set by the system, κ (s i ) is the local curvature at the ith position, H(s i ) is the height difference of the i-th position;

[0124] The adsorption analysis unit calculates the adsorption amount F at the i-th position of the stack i , and the telescopic adjustment amount ΔL at the i-th position i The adsorption unit is adjusted to adsorb the flexible photovoltaic panel from the β conveyor belt, so as to cooperate with the robot and the robot control module (see below) to transfer the flexible photovoltaic panel to above the substrate of the α conveyor belt;

[0125] Through the cooperation between the evaluation module and the flexible adsorption module, the transfer and adsorption process of the flexible photovoltaic panel 13 is made more reliable, and the adsorption force and method are adjusted according to the shape and quality of the substrate 2 to avoid damage or bending of the flexible photovoltaic panel during the adsorption process, thereby reducing the waste of materials caused by improper operation during the production process, and ensuring that the entire system has the advantages of strong adaptive ability, high intelligence and good assembly effect;

[0126] The flexible photovoltaic module assembly production system further includes a manipulator control module, which controls the manipulator 26 and cooperates with the adsorption assembly module to transfer the flexible photovoltaic panel 13 to the substrate 2;

[0127] The manipulator control module includes a control unit and an identification and positioning unit, wherein the identification and positioning unit identifies and positions the flexible photovoltaic panel 13 and the substrate 2 that are adsorbed and transferred by the manipulator 26 at the end, and the control unit dynamically adjusts the positions of the flexible photovoltaic panel 13 and the substrate 2 according to the identification data of the identification and positioning unit;

[0128] The identification and positioning unit includes a transverse identification probe 33, a longitudinal identification probe 27, and a position positioning subunit, wherein the transverse identification probe 33 collects image data of the transverse state of the flexible photovoltaic panel 13 and the substrate 2, and the longitudinal identification probe 27 collects image data of the longitudinal state of the flexible photovoltaic panel 13 and the substrate 2, and the position positioning subunit analyzes the positions of the flexible photovoltaic panel 13 and the substrate 2 according to the image data of the transverse state collected by the transverse identification probe 33 and the image data of the longitudinal state collected by the longitudinal identification probe 27, so as to determine the assembly deviation of the flexible photovoltaic panel 13 assembled on the substrate 2;

[0129] The identification and positioning unit is arranged on the execution end of the manipulator 26, and collects and locates the positions of the flexible photovoltaic panel 13 and the substrate 2;

[0130] The position positioning subunit obtains the image data of the horizontal state collected by the horizontal recognition probe and the image data of the vertical state collected by the vertical recognition probe, and processes the image data edge detection algorithm (such as Canny edge detection), sets the center of the substrate 2 as the origin (0,0), and establishes a two-dimensional coordinate system, wherein: the X axis represents the horizontal direction, and the Y axis represents the vertical direction, so as to identify the edge coordinates of the flexible photovoltaic panel and the substrate 2;

[0131] The position positioning subunit obtains the lateral edge coordinates of the flexible photovoltaic panel and the substrate 2, and calculates the lateral deviation △x according to the following formula:

[0132] ;

[0133] In the formula, x pv_left x is the horizontal left edge position coordinate of the flexible photovoltaic panel: pv_right is the horizontal right edge position coordinate of the flexible photovoltaic panel, x substrate_left is the left side edge position of the substrate, x substrate_right is the right side position coordinate of the lateral edge of the substrate;

[0134] If Δx = 0, it means that the flexible photovoltaic panel is aligned with the substrate in the X direction;

[0135] If Δx≠0=0, it means that the flexible photovoltaic panel is offset relative to the substrate on the X axis, and the flexible photovoltaic panel needs to be moved horizontally by a distance of Δx by adjusting the manipulator;

[0136] The position positioning subunit obtains the longitudinal edge coordinates of the flexible photovoltaic panel and the substrate, and calculates the longitudinal deviation △y according to the following formula:

[0137]

[0138] In the formula, y pv_top is the longitudinal front edge position coordinate of the flexible photovoltaic panel, y pv_bottom is the longitudinal rear edge position coordinate of the flexible photovoltaic panel, y substrate_top is the longitudinal front edge position of the substrate, y substrate_bottom is the longitudinal rear edge position of the substrate;

[0139] If Δy = 0, it means that the flexible photovoltaic panel is aligned with the substrate in the Y direction;

[0140] If Δy≠0, it means that the flexible photovoltaic panel is offset relative to the substrate on the Y axis, and the flexible photovoltaic panel needs to be moved longitudinally by a distance of Δy by adjusting the manipulator;

[0141] The control unit controls the manipulator according to the following steps:

[0142] 1) adsorbing the flexible photovoltaic panel from the β conveyor belt and transferring the flexible photovoltaic panel to above the substrate of the α conveyor belt, and triggering the identification and positioning unit to identify and locate the welding position of the flexible photovoltaic panel and the substrate to obtain the lateral deviation △x and the longitudinal deviation △y;

[0143] The control method of the control unit to adsorb the flexible photovoltaic panel from the β conveyor belt and transfer the flexible photovoltaic panel to the substrate above the α conveyor belt is a conventional robotic arm control method, which is also a technical method well known to those skilled in the art (not described in detail in this embodiment). Those skilled in the art can refer to relevant technical manuals to learn about the technology, so it is not described in detail in this embodiment;

[0144] 2) In this embodiment, the steps of adsorbing the flexible photovoltaic panel and transferring the flexible photovoltaic panel to the substrate above the α conveyor belt to adjust the positions of the flexible photovoltaic panel and the substrate are explained. Specifically, the control unit obtains the lateral deviation △x and the longitudinal deviation △y and adjusts the flexible photovoltaic panel according to the following steps (S11-S15) to overcome the lateral deviation △x and the longitudinal deviation △y:

[0145] S11. Calculate the lateral and longitudinal deviations:

[0146] By identifying the positioning unit, a lateral deviation Δx and a longitudinal deviation Δy between the flexible photovoltaic panel and the substrate are obtained, and these deviations represent the positional misalignment of the flexible photovoltaic panel relative to the substrate;

[0147] By calculating the lateral deviation Δx and the longitudinal deviation Δy, the position positioning subunit can obtain the overall position deviation of the flexible photovoltaic panel relative to the substrate;

[0148] Position deviation correction operation: if Δx or Δy is not zero, the robot control module will instruct the robot to move the flexible photovoltaic panel in the horizontal and vertical directions respectively by corresponding distances to ensure that it is aligned with the substrate; before alignment is achieved, the flexible photovoltaic panel cannot be placed or bonded, and the process jumps to step S12;

[0149] S12, get the current position of the end of the robot:

[0150] Determine the current position of the robot end effector (x current ,y current );

[0151] The current coordinates of the robot (x current ,y current) is based on sensor data (such as encoders) or visual system data, but these data may not be in the same coordinate system, so coordinate transformation is needed to unify these data into an operational coordinate system, such as the base coordinate system of the robot or the world coordinate system;

[0152] S121. Convert from image coordinates to world coordinates (physical coordinate system):

[0153] Camera calibration:

[0154] The purpose of camera calibration is to establish the conversion from image coordinates (u,v) to world coordinates (x world ,y world ,z world ) The common calibration method uses a chessboard to estimate the camera's intrinsic parameters (focal length, principal point offset, etc.) and extrinsic parameters (the position and posture of the camera relative to the world coordinate system) by taking multiple shots of the chessboard at different positions. After calibration, we get the following conversion relationship:

[0155] ;

[0156] Where: P world =[x world ,y world , z world ] T , P world =[x world ,y world , z world ] T is the position in the world coordinate system, P image =[u,v,1] T is the position in the image coordinate system, u and v are pixel coordinates;

[0157] K is the camera's intrinsic parameter matrix, including focal length and principal point position:

[0158] ;

[0159] Among them, f x and f y is the focal length of the camera in the X (horizontal) and Y (vertical) directions, c x and c y are the principal point coordinates (center of the image);

[0160] By using the above formula, the image coordinates (u, v) are converted into three-dimensional coordinates (x camera ,y camera , z camera );

[0161] S122. Conversion from camera coordinate system to world coordinate system:

[0162] The transformation from the camera coordinate system to the world coordinate system depends on the extrinsic matrix, that is, the position and posture of the camera in the world coordinate system; the extrinsic matrix consists of the rotation matrix R and the displacement matrix T;

[0163]

[0164] Where: P world is a point in the world coordinate system, R is a 3x3 rotation matrix, which represents the rotation of the camera coordinate system relative to the world coordinate system, and T is a displacement matrix, which represents the translation of the camera coordinate system relative to the world coordinate system;

[0165] Through these steps, the image coordinates (u, v) are converted to the position (x world ,y world , z world );

[0166] S123, converting from world coordinates to robot base coordinates:

[0167] Now, get the position P of the object in the world coordinate system world , and transform this position into the base coordinate system of the robot, which usually requires a transformation matrix T from the robot to the world coordinate system robot to world ;

[0168] ;

[0169] Where: P robot =(x robot ,y robot , z robot ) is the position of the object in the robot base coordinate system, T world to robot The matrix describing the rotation and translation between the world coordinate system and the robot base coordinate system is the transformation matrix from the world coordinate system to the robot base coordinate system;

[0170] S124, convert the deviation to the robot base coordinate system:

[0171] Assuming that the vision system calculates the deviations Δu and Δv in the image coordinate system, first transform the deviations to the world coordinate system:

[0172] ;

[0173] Where ΔP image =[Δu, Δv, 1] T is the deviation in the image coordinate system;

[0174] The deviation ΔP in the world coordinate system world The deviation ΔP converted into the robot base coordinate system robot :

[0175] ;

[0176] After the above processing, the deviation Δx robot and Δy robot It is already in the robot base coordinate system and jumps to step S13;

[0177] S13, calculate the target position:

[0178] Deviation Δx robot and Δy robot Already in the same current and current In the same coordinate system, the target position of the robot is calculated according to the following formula:

[0179] ;

[0180] The above formula represents the distance that the robot end effector needs to move on the plane so that the flexible photovoltaic panel is aligned with the substrate, and jumps to step S14;

[0181] S14, Path Planning and Control:

[0182] Through the manipulator control module, the inverse kinematics algorithm is used to calculate how to move the joints of the manipulator so that the end effector of the manipulator can move from the current position (x current ,y current ) moves to the calculated target position (x target ,y target ), and jump to step S15;

[0183] S15. Real-time feedback and adjustment:

[0184] During the movement of the robot, the position is monitored in real time through sensors or visual systems, and the position of the robot is further adjusted based on actual feedback to ensure precise alignment;

[0185] After moving and adjusting the position, the recognition and positioning unit will collect image data again and re-detect the edge position of the flexible photovoltaic panel and the substrate;

[0186] If the new image data analysis results show that Δx=0 and Δy=0, the flexible photovoltaic panel and the substrate are aligned, and the system can proceed to the next step, which is to apply the adhesive and cure it;

[0187] If the deviation still exists, the operations of steps S11 to S14 are triggered, and the iterative adjustment is continued until the positions of the flexible photovoltaic panel and the substrate meet the alignment standard;

[0188] When the positions of the flexible photovoltaic panel and the substrate reach the alignment standard, the adsorption unit releases the adsorption of the flexible photovoltaic panel and performs a subsequent bonding and assembly process of the flexible photovoltaic panel and the substrate;

[0189] In this embodiment, the combination of the flexible adsorption module and the evaluation module can ensure the uniform distribution of the adsorption amount, and dynamically adjust the adsorption amount according to the shape change of the substrate 2 to avoid deformation or damage of the flexible photovoltaic panel 13 during the installation process, thereby ensuring that the entire system has the advantages of high automation, high assembly accuracy, strong adaptive adjustment ability and good adsorption assembly reliability;

[0190] Optionally, the assembly bonding module includes a bonding unit and a curing unit, the flexible photovoltaic panel is placed against the assembly gap of the substrate to form a bonding position, the bonding unit applies the adhesive on the bonding position to bond the substrate 2 and the flexible photovoltaic panel 13, and the curing unit cures the adhesive in the bonding position;

[0191] The bonding unit includes a sliding member, an extrusion member and an action control member, wherein the extrusion member is used to apply the solder to the bonding position, the action control member adjusts the distance between the extrusion member and the welding position, and the sliding member slides and adjusts the positions of the extrusion member and the action member so that the extrusion member and the action control member slide to above the bonding position;

[0192] The sliding component includes a sliding track 18, a sliding seat 19, a sliding drive mechanism, an identification probe and a positioning mark. The sliding track 18 is arranged on one side of the α transport frame and extends along the length direction of the α transport frame. The sliding seat 19 is slidably connected to the sliding track 18. The sliding drive mechanism is arranged on the sliding seat 19 and drives the sliding seat 19 to slide along the direction of the sliding track 18. The positioning marks are distributed at equal intervals along the length direction of the sliding track 18. The identification probe is arranged on the sliding seat 19 and identifies the positioning marks to achieve precise control of the sliding position.

[0193] The sliding member further comprises a stand 20 and a pole 16, one end of the stand 20 is connected to the upper end surface of the sliding seat 19, the other end of the stand 20 extends toward a side away from the sliding seat 19, one end of the pole 16 is connected to the stand 20 ladder, the other end of the pole 16 extends toward the top of the transport path of the substrate 2, so that the other end of the pole 16 is just opposite to the bonding position;

[0194] At the same time, the action member is arranged on the end of the vertical rod 16 and extends toward one side of the bonding position;

[0195] The action component includes a lifting rod 21, a lifting drive mechanism and a lifting detection member. One end of the lifting rod 21 is connected to the extrusion member, and the other end of the lifting rod 21 is drivingly connected to the lifting drive mechanism to form a lifting portion. The lifting portion is arranged on the vertical rod 16 and adjusts the position of the extrusion member. The lifting detection member is used to detect the lifting height of the lifting rod 21 and feed it back to the central processor, and the central processor compares the required lifting height with the detected lifting height until it is consistent with the required height.

[0196] The extrusion member includes an extrusion seat 17, an extrusion nozzle 22, a storage tank 15, a supply pump, and a supply pipe 25. The extrusion seat 17 is used to support the storage tank 15 and the supply pump. One end of the supply pipe 25 is connected to the extrusion nozzle 22, and the other end of the supply pipe 25 is connected to the supply pump. The supply pump is arranged in the storage tank 15 and applies the adhesive in the storage tank 15 to the bonding position.

[0197] In this embodiment, the lifting member is used to adjust the position of the extrusion member so that the extrusion member can extrude the adhesive and apply it at the bonding position;

[0198] In this embodiment, when the extrusion member is in cooperation with the lifting member and the steering member, the extrusion member is facing the bonding position. At the same time, under the action of the ejection rod 29, the rotating seat 30 and the rotating drive mechanism 31, the substrate 2 is rotated along the axis of the rotating seat 30, so that the extrusion member can apply the adhesive to the bonding position.

[0199] like Fig.12 As shown, the coating position of the flexible photovoltaic panel 13 and the substrate 2 includes four frames, which are respectively the length direction of the flexible photovoltaic panel 13 and the substrate 2 → the width direction of the flexible photovoltaic panel 13 and the substrate 2 → the length direction of the flexible photovoltaic panel 13 and the substrate 2 → the width direction of the flexible photovoltaic panel 13 and the substrate 2, and finally the four frames are coated with the adhesive;

[0200] Specifically, the push-out portion lifts the substrate 2 and separates it from the placement cavity 8, and under the action of the lifting portion, the extrusion member is moved close to the bonding position of the flexible photovoltaic panel 13 and the substrate 2, and the adhesive is extruded and applied to the bonding position of the flexible photovoltaic panel 13 and the substrate 2 in the length direction. At the same time, the sliding drive mechanism drives the sliding seat 19 to slide from the initial end of the sliding track 18 (at a in the figure) to the end of the sliding track 18 (at b in the figure) to apply the adhesive to the bonding position of the flexible photovoltaic panel 13 in the length direction.

[0201] When the coating is completed at the end of the length direction of the flexible photovoltaic panel 13, the rotation of the rotation drive mechanism 31 drives the ejection rod 29, the adsorption nozzle 36, the substrate 2, and the flexible photovoltaic panel 13 to rotate, and the adhesive is squeezed out and coated on the bonding position of the flexible photovoltaic panel 13 and the substrate 2 in the width direction;

[0202] At the same time, when the coating in the width direction of the flexible photovoltaic panel 13 is completed, the rotation of the rotation drive mechanism 31 drives the ejection rod 29, the adsorption nozzle 36, the substrate 2, and the flexible photovoltaic panel 13 to rotate, and the adhesive is extruded and coated on the bonding position of the flexible photovoltaic panel 13 and the substrate 2 in the length direction;

[0203] At the same time, when the coating in the length direction of the flexible photovoltaic panel 13 is completed, the rotating seat 30 is driven to rotate by the rotating driving mechanism 31, and the ejection rod 29, the adsorption nozzle 36, the substrate 2, and the flexible photovoltaic panel 13 are driven to rotate at the same time, so that the extrusion member extrude and coat the adhesive on the bonding position in the width direction of the flexible photovoltaic panel 13 and the substrate 2;

[0204] In this embodiment, the rotation drive mechanism 31 drives the rotating seat 30 to rotate four times, so that the extruded member can be coated with adhesive along the four borders of the flexible photovoltaic panel 13 and the substrate 2;

[0205] In this embodiment, the curing unit is disposed on the extrusion seat 17 and is located on one side of the extrusion nozzle 22. Preferably, the curing unit is disposed at the rear end of the coating direction of the extrusion nozzle 22 to perform a curing operation on the bonding position coated with the adhesive.

[0206] The curing unit includes a curing component and a preheating component, wherein the preheating component preheats the bonding position and the adhesive, and the curing component cures the bonding position and the adhesive;

[0207] The preheating component includes a heating chamber, a heater and a hot air gun, wherein the heater and the hot air chamber are arranged in the heating chamber, the heater is used to heat the air in the heating chamber, the hot air gun is arranged facing the opening of the heating chamber, and blows the heat generated by the heater to the gluing position through the opening, so that the gluing position is preheated;

[0208] The curing component includes a curing seat 24, a curing lamp, and a photoelectric sensor. The curing seat 24 is provided with a curing cavity with an opening at one end. The fixed lamp is arranged in the curing cavity and is arranged opposite to the opening of the curing cavity. The photoelectric sensor is arranged at the opening of the curing cavity and monitors the irradiation intensity of the curing lamp.

[0209] Among them, through the mutual cooperation of the curing unit and the bonding unit, the flexible photovoltaic panel 13 and the substrate 2 can be accurately assembled, ensuring that the entire system has the advantages of high loading efficiency, good loading reliability and high intelligence;

[0210] In this embodiment, the flexible adsorption module and the assembly bonding module cooperate with each other to make the assembly efficiency more efficient, ensure that the entire system has a high degree of intelligence, reduce the time of manual intervention, and make the entire production line more efficient;

[0211] In addition, the present invention also provides a flexible photovoltaic module assembly production method, the flexible photovoltaic module assembly production method comprising the following steps:

[0212] S1, placing the substrate 2 and the flexible photovoltaic panel 13 on the α transport unit and the β transport unit respectively, and transporting them through the α transport unit and the β transport unit respectively;

[0213] S2, the collecting unit collects shape data of the substrate 2 transported by the α transport unit;

[0214] S3, the evaluation module evaluates the substrate 2 according to the shape data to form an evaluation result;

[0215] S4, the flexible adsorption module adsorbs the flexible panel according to the evaluation result, and cooperates with the manipulator 26 to transfer the flexible photovoltaic panel 13 to the substrate 2, so that the flexible photovoltaic panel is placed against the assembly gap of the substrate to form a bonding position;

[0216] S5, the assembly bonding module applies adhesive between the substrate 2 and the flexible photovoltaic panel 13, and cures the adhesive at the bonding position to form an assembled product;

[0217] S6, performing a quality assessment on the assembled product, and if the quality assessment is qualified, transporting the assembled product to the next process flow through the α transport unit;

[0218] In this embodiment, the quality of the assembled product can be evaluated by a quality inspector, which is a technical means well known to those skilled in the art, and thus will not be described in detail in this embodiment;

[0219] Optionally, the flexible photovoltaic module assembly production method further includes: in step S4, analyzing the adsorption amount and the telescopic adjustment amount by the flexible adsorption module, and adsorbing the flexible photovoltaic panel 13 according to the adsorption amount and the telescopic adjustment amount obtained by the analysis;

[0220] Optionally, the flexible photovoltaic module assembly production method further includes: loading the flexible adsorption module on the execution end of the robot 26, and controlling the robot 26 so that the flexible photovoltaic panel 13 is transferred to the substrate 2;

[0221] By assembling the flexible photovoltaic panel and the substrate in coordination with each other through the assembly production method, the overall assembly efficiency is effectively improved, ensuring that the entire assembly process is more efficient and the assembly accuracy is good. At the same time, the precise matching of the photovoltaic panel and the substrate is ensured, and the assembly deviation caused by shape mismatch is reduced. High-precision assembly and bonding are achieved, the quality and long-term stability of the photovoltaic components are guaranteed, and operational errors are reduced, and material waste and rework are avoided.

[0222] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improve upon them. Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 and Fig.19As shown, the assembly bonding module also includes a collection unit, a quality analysis unit and a feedback adjustment unit, the collection unit collects the state of the applied glue, the quality analysis unit evaluates the glue quality of the bonding position according to the glue state data collected by the collection unit to form a quality result, the feedback adjustment unit analyzes the parameters of the bonding unit according to the quality result to form a new extrusion speed and a new rotation speed, and adjusts the bonding process of the bonding unit according to the new extrusion speed and the new rotation speed;

[0223] The acquisition unit includes a pressure sensor, a thickness detection member and a data storage device, wherein the pressure sensor is used to acquire the extrusion pressure of the adhesive of the bonding unit, the thickness detection member acquires the thickness data of the adhesive at the bonding position, and the data storage device stores the pressure data acquired by the pressure sensor and the thickness data of the adhesive at the adhesive position acquired by the thickness detection member;

[0224] In this embodiment, the pressure sensor is disposed in the supply pipeline 25 and detects the extrusion pressure of the supply pipeline 25 to obtain the extrusion pressure of the supply pipeline 25;

[0225] The thickness detection member is arranged on the extrusion seat 17 and is located at the rear side in the coating direction to collect the thickness of the bonding position coated with the adhesive;

[0226] The thickness detection member includes a connecting rod and a thickness sensor 23, one end of the connecting rod is connected to the thickness sensor 23, and the other end of the connecting rod is connected to the rod body of the lifting rod 21 and moves with the movement of the lifting rod 21;

[0227] In this embodiment, the thickness sensor 23 is pressed against the adhesive during the detection process to obtain the thickness data of the adhesive;

[0228] The thickness sensor 23 is an ultrasonic thickness sensor 23, specifically:

[0229] The ultrasonic thickness sensor 23 detects thickness by using the difference in the propagation speed of sound waves in different media, and is usually used to measure liquid or solid coatings; the working principle is as follows:

[0230] Transmitting ultrasonic waves: The ultrasonic sensor transmits high-frequency sound waves, which pass through the coated adhesive layer and are transmitted to the substrate 2;

[0231] Reflected ultrasonic wave: The ultrasonic wave is reflected when it reaches the interface between the adhesive and the substrate 2, and the sensor detects the reflected sound wave;

[0232] Time difference of sound waves: By measuring the time difference between the sound wave propagating to the interface between the adhesive and the substrate 2 and reflecting back, combined with the propagation speed of the ultrasonic wave in the adhesive, the thickness of the adhesive can be calculated;

[0233] The quality analysis unit obtains the pressure data collected by the pressure sensor and the thickness data of the glue at the glue position collected by the thickness sensor 23, and pre-processes the data, wherein the processing includes standardization, and calculates the quality index QS according to the following formula:

[0234] ;

[0235] Where, T standardized is the standardized adhesive thickness data, P standardized is the standardized pressure data, and its value is calculated according to the following formula;

[0236] ;

[0237] Where P act is the actual measured pressure value, μ P is the mean value of pressure, σ P is the standard deviation of pressure;

[0238] For pressure data, multiple pressure values ​​P1, P2, ..., P are collected. n , using the formula: The mean value of pressure μ P Calculate according to the following formula:

[0239] ;

[0240] Where P i is the pressure data measured for the i-th time, and n is the sampling times set by the system;

[0241] Standard deviation of pressure σ P Calculate according to the following formula:

[0242] ;

[0243] In the formula, μ P is the mean pressure, P i is the pressure data measured each time, and n is the sampling times set by the system;

[0244] Standardized adhesive thickness data T standardized Calculated according to the following formula:

[0245]

[0246] Where, T act is the actual measured adhesive thickness, μ Tis the mean thickness of the adhesive, σ T is the standard deviation of adhesive thickness;

[0247] For adhesive thickness data, collect multiple measured thickness values ​​T1, T2, ..., T n , using the formula:

[0248] ;

[0249] Where, T j is the pressure data measured for the jth time along the extension direction of the bonding position, and m is the sampling number set by the system;

[0250] Standard deviation of adhesive thickness σ T Calculate according to the following formula:

[0251] ;

[0252] Where, T j is the pressure data measured for the jth time along the extension direction of the bonding position, and m is the sampling number set by the system;

[0253] When QS is less than or equal to the qualified monitoring threshold Q set by the system pass When , it means that the quality of the current adhesive position meets the preset standard and the coating quality is considered qualified, which indicates that the deviation of the key parameters of thickness and pressure is within the acceptable range and meets the production requirements;

[0254] When QS is greater than the qualified monitoring threshold Q set by the system pass , it indicates that the quality of the adhesive position does not meet the preset standard and the coating quality is unqualified, which means that the deviation of parameters such as thickness or pressure exceeds the allowable range and there is a quality problem, and the feedback adjustment unit is triggered to analyze the parameters of the bonding unit according to the qualified index to form new control parameters, and adjust the bonding process of the bonding unit according to the new control parameters;

[0255] Among them, the qualified monitoring threshold Q set by the system pass These are well-known technical means to those skilled in the art, and those skilled in the art can refer to relevant technical manuals to learn about the technology, so they will not be described in detail in this embodiment;

[0256] The feedback adjustment unit obtains the quality qualification index QS and the qualified monitoring threshold Q set by the system pass , and calculate the new extrusion speed and new rotation speed according to the following formula:

[0257] ;

[0258] In the formula, QS is the quality index, Q passV is the quality monitoring threshold set by the system. extrude is the new extrusion speed, ω rotate is the new rotation speed (rotation speed of the substrate), v extrude, init is the initial extrusion speed, ω rotate, init is the initial rotation speed;

[0259] At the same time, in the initial state, the supply pipe is extruded at an initial speed v extrude, init The extrusion speed is 2000, and the rotation drive mechanism is extruded at an initial rotation speed ω rotate, init To rotate;

[0260] The feedback adjustment unit feeds back the calculated new extrusion speed and new rotation speed to the central processor, and the central processor adjusts the extrusion speed of the supply pipeline according to the new extrusion speed, and controls the steering drive mechanism according to the new rotation speed, so that the adhesive is applied to the bonding position;

[0261] In this embodiment, through the mutual cooperation of the acquisition unit, the quality analysis unit, the feedback adjustment unit and the bonding unit, the welding process of the flexible photovoltaic panel and the substrate is detected and quality evaluated, ensuring the precise control of the welding process by the entire system, so that the entire system has the advantages of high degree of automation, good bonding accuracy, high degree of intelligence, precise quality evaluation and strong automatic adjustment capability.

[0262] The contents disclosed above are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated as technology develops.

Claims

1. A flexible photovoltaic module assembly production system, the flexible photovoltaic module assembly production system comprising a server, a manipulator, a substrate, and a flexible photovoltaic panel, characterized in that: The flexible photovoltaic module assembly production system further includes a processing module, a flexible adsorption module, an evaluation module, and an assembly bonding module, the server is respectively connected to the processing module, the flexible adsorption module, the evaluation module, and the assembly bonding module, and the flexible adsorption module is loaded on the execution end of the manipulator; The processing module processes the substrate and the flexible photovoltaic panel and collects shape data of the substrate. The evaluation module evaluates the substrate according to the shape data of the substrate to form an evaluation result. The flexible adsorption module adsorbs the flexible photovoltaic panel according to the evaluation result, and transfers and abuts the flexible photovoltaic panel on the substrate. The assembly and bonding module assembles and bonds the abutting flexible photovoltaic panel and the substrate. Wherein, the processing module includes a cleaning unit, an α transport unit, a β transport unit and a collection unit, the α transport unit transports the substrate so that the substrate enters the α cleaning station and the assembly station, the β transport unit transports the flexible photovoltaic panel so that the flexible photovoltaic panel enters the β cleaning station, the cleaning unit cleans the substrate entering the α cleaning station and the flexible photovoltaic panel in the β cleaning station, the collection unit is arranged in the α cleaning station and collects shape data of the substrate, the α cleaning station and the assembly station are sequentially established along the transport direction of the α transport unit, and the β cleaning station is arranged on the β transport unit; Wherein, the manipulator is arranged between the α transport unit and the β transport unit, and the assembly bonding module is arranged in the α transport unit; The cleaning unit comprises a cleaning member and an attachment member, wherein the cleaning member is used to clean dirt on the substrate and the flexible photovoltaic panel, and the attachment member adsorbs dirt on the substrate and the flexible photovoltaic panel; The cleaning component includes a cleaning roller, a support seat, an adjustment rod, an adjustment drive mechanism, and a cleaning drive mechanism, wherein the cleaning rollers are respectively arranged above the substrate and the flexible photovoltaic panel, the cleaning drive mechanism is drivingly connected to the cleaning rollers to form a cleaning portion, the cleaning portion is arranged on the support seat so that one end of the cleaning roller extends above the substrate and the flexible photovoltaic panel, one end of the adjustment rod is drivingly connected to the adjustment drive mechanism to form an adjustment portion, the adjustment portion is respectively arranged on one side of the transport direction of the α transport unit and the β transport unit, and cleans the transported substrate and the flexible photovoltaic panel; The assembly bonding module includes a bonding unit and a curing unit, the flexible photovoltaic panel is placed against the assembly gap of the substrate to form a bonding position, the bonding unit applies an adhesive on the bonding position to bond the substrate and the flexible photovoltaic panel, and the curing unit cures the adhesive in the bonding position; The bonding unit includes a sliding member, an extrusion member and an action control member, wherein the extrusion member is used to apply the adhesive to the bonding position, the action control member adjusts the distance between the extrusion member and the bonding position, and the sliding member slides and adjusts the positions of the extrusion member and the action control member so that the extrusion member and the action control member slide to above the bonding position; The collection unit includes an optical collection component and a posture adjustment component, wherein the posture adjustment component adjusts the position of the optical collection component, and the optical collection component collects the appearance data of the substrate; Wherein, the collection unit is arranged on one side of the transport path of the α transport unit, and collects the shape data of the substrate from one side of the α transport unit; The evaluation module obtains the shape data and processes the shape data, wherein the processing includes contour extraction and contour point discretization, and calculates the local curvature κ (s) of the substrate at the ith position according to the following formula: i ) and height difference H (s i ): ； In the formula, (x i ,y i ) is the coordinate of the i-th reference point on the substrate contour, (x i-1 ,y i-1 ) is the previous contour point of the i-th reference point, (x i+1 ,y i+1 ) is the next contour point after the i-th reference point; ； In the formula, y ref is the reference horizontal line in the image, y i is the vertical coordinate of the ith point on the substrate contour; The evaluation module calculates the local curvature κ (s i ) and height difference H (s i ) is transmitted to the flexible adsorption module, and the flexible adsorption module and the robot are triggered to adsorb the flexible photovoltaic panel and transfer it to the substrate.

2. The flexible photovoltaic module assembly production system according to claim 1, characterized in that: The flexible adsorption module includes an adsorption analysis unit and an adsorption unit, wherein the adsorption analysis unit analyzes the adsorption amount and the telescopic adjustment amount of the adsorption unit according to the evaluation result to form an analysis result, and the adsorption unit adsorbs the flexible photovoltaic panel according to the analysis result to adapt to the shape of the substrate; The adsorption unit includes an adsorption component and a telescopic component. The telescopic component adjusts the adsorption component. The adsorption component adsorbs one side of the flexible photovoltaic panel and cooperates with the robot to adsorb and transfer the flexible photovoltaic panel to the substrate.

3. The flexible photovoltaic module assembly production system according to claim 2, characterized in that: The curing unit includes a curing component and a preheating component. The preheating component preheats the bonding position and the adhesive, and the curing component cures the bonding position and the adhesive.

4. The flexible photovoltaic module assembly production system according to claim 3, characterized in that: The sliding component includes a sliding track, a sliding seat, a sliding drive mechanism, an identification probe and a positioning mark. The sliding track is arranged on one side of the α transport frame and extends along the length direction of the α transport frame. The sliding seat is slidably connected to the sliding track. The sliding drive mechanism is arranged on the sliding seat and drives the sliding seat to slide along the direction of the sliding track. The positioning marks are distributed at equal intervals along the length direction of the sliding track. The identification probe is arranged on the sliding seat and identifies the positioning mark to achieve precise control of the sliding position.

5. A flexible photovoltaic module assembly production method, using the flexible photovoltaic module assembly production system as described in claim 4, characterized in that: The flexible photovoltaic module assembly production method comprises the following steps: S1, placing the substrate and the flexible photovoltaic panel on the α transport unit and the β transport unit respectively, and transporting them through the α transport unit and the β transport unit respectively; S2, the collecting unit collects shape data of the substrate transported by the α transport unit; S3, the evaluation module evaluates the substrate according to the shape data to form an evaluation result; S4, the flexible adsorption module adsorbs the flexible photovoltaic panel according to the evaluation result, and cooperates with the manipulator to transfer the flexible photovoltaic panel to the substrate, so that the flexible photovoltaic panel is placed against the assembly gap of the substrate to form a bonding position; S5, the assembly bonding module applies adhesive between the substrate and the flexible photovoltaic panel, and cures the adhesive at the bonding position to form an assembled product; S6. Performing a quality assessment on the assembled product. If the quality assessment is qualified, transporting the assembled product to the next process flow through the α transport unit.

6. A flexible photovoltaic module assembly production method according to claim 5, characterized in that: The flexible photovoltaic module assembly production method further includes: in step S4, the adsorption amount and the telescopic adjustment amount are analyzed by the flexible adsorption module, and the flexible photovoltaic panel is adsorbed according to the adsorption amount and the telescopic adjustment amount obtained by the analysis.

7. A flexible photovoltaic module assembly production method according to claim 6, characterized in that: The adsorption analysis unit obtains the local curvature κ (s i ) of the i-th position of the flexible photovoltaic panel evaluated by the evaluation module. i ) and height difference H (s i ) and calculate the telescopic adjustment amount ΔL at the i-th position according to the following formula i : ； In the formula, κ (s i ) is the local curvature at the ith position, H(s i ) is the height difference of the i-th position, θ i is the angle at the i-th position, C is the reference telescopic constant of the telescopic rod, indicating the initial reference telescopic amount.

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