Photovoltaic glass manipulator stacking control method

Abstract

The invention relates to a photovoltaic glass manipulator stacking control method, which can redefine a reference plane when a first piece of photovoltaic glass is stacked by introducing three plane displacement sensors, greatly improves the precision and reliability of the stacking process, and improves the accuracy and reliability of the stacking process based on the reference plane when the first piece of photovoltaic glass is stacked. The pressing depth between the suction cup and the glass surface is monitored in real time through the plane displacement sensor, so that the stacking depth can be adjusted in time, and the situation that glass sheets are scratched or damaged due to too large pressing depth in the stacking process is avoided. According to the method, the problem that in the traditional stacking process, due to inaccurate pressure depth control, glass is scratched is solved, the stacking precision is optimized through a dynamic adjusting mechanism, it is ensured that each layer of glass is stacked flatly and stably, and therefore the stacking efficiency and quality are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic glass manufacturing, and in particular to a photovoltaic glass manipulator stacking control method. Background Art

[0002] As the global demand for clean energy continues to increase, photovoltaic power generation, as an important renewable energy source, has been widely used. In photovoltaic power generation systems, photovoltaic glass is a key material for photovoltaic modules, and its production and processing accuracy directly affects the performance and reliability of the final photovoltaic modules. In the production process of photovoltaic glass, stacking, as one of the post-processing links, usually occurs in the cold end processing stage, involving stacking the processed glass sheets on the stacking rack for subsequent assembly or storage. With the continuous increase in the size of photovoltaic glass and the improvement of production efficiency requirements, the accuracy and automation of the stacking process have become particularly important.

[0003] In traditional photovoltaic glass stacking systems, the accuracy of the stacking process often depends on the placement and posture of the first piece. Since the position of the first piece is a calculated value relative to the current turntable reference plane, and each time the first piece is placed, the attitude angle of the reference plane may change, that is, the system needs to recalculate the position of each subsequent piece of glass, which not only makes the stacking process complicated, but also increases the amount of calculation and reduces the overall efficiency of the system. In order to solve the problem of unstable reference plane attitude angle, workers usually need to manually adjust the compensation parameters. However, existing compensation methods are often not intuitive enough, and it is difficult for workers to accurately adjust the compensation value based on real-time feedback. Moreover, this manual adjustment often requires more experience, and for non-professional operators, it is a challenge to accurately set the compensation parameters, which leads to reduced stacking accuracy. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a photovoltaic glass manipulator stacking control method for improving the accuracy, efficiency and quality of the photovoltaic glass stacking process.

[0005] In order to achieve the above-mentioned purpose, the photovoltaic glass manipulator stacking control method designed by the present invention is applied to the cold end processing of photovoltaic glass, and controls the mechanical arm to drive the suction cup frame to grab the photovoltaic glass on the conveyor line and stack it on the stacking frame, including the following steps:

[0006] S10. Obtaining the coordinates of a plurality of planar displacement sensors pre-set on the suction cup frame in the robot arm coordinate system;

[0007] S20. According to the edge center point of the turntable carrying the stacking frame and the specifications of the stacking frame, determine the center position of the front edge of the stacking frame, and set the offset value of the bottom edge center of the suction cup frame relative to the center position of the front edge of the stacking frame;

[0008] S30. Control the robot arm to drive the suction cup frame to move to the first stacking starting position determined by the offset value until at least three plane displacement sensors on the suction cup frame are triggered simultaneously;

[0009] S40. Record the coordinate values ​​detected by each of the at least three planar displacement sensors when they are triggered, and obtain the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3;

[0010] S50. According to the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3, a stacking reference plane with the first trigger point P1 as a reference point is calculated and determined;

[0011] S60. In the subsequent stacking process, the target stacking position of the photovoltaic glass to be stacked is calculated according to the number of stacked glass sheets and the real-time pressure depth distance value of the plane displacement sensor relative to the stacking reference plane, and the robotic arm is controlled to drive the suction cup frame to place the photovoltaic glass at the target stacking position.

[0012] Preferably, the planar displacement sensor is installed at the center position of the suction cup of the suction cup frame.

[0013] Preferably, there are three plane displacement sensors, and the three plane displacement sensors are distributed in a triangular shape on the suction cup frame.

[0014] Preferably, in step S20, the coordinates of the center position of the front edge of the stacking rack in the robotic arm coordinate system are calculated based on the coordinates of the center point of the turntable edge in the robotic arm coordinate system, the length, width and height of the stacking rack, and the placement position and angle of the stacking rack relative to the turntable, and the offset value is calculated based on the coordinates of the center position of the front edge of the stacking rack in the robotic arm coordinate system, the preset offset value and the coordinates of the center of the bottom edge of the suction cup rack in the robotic arm coordinate system.

[0015] Preferably, the step of calculating the stacking reference plane includes: calculating two vectors between the first trigger point P1 and the second trigger point P2 and the third trigger point P3, and calculating the normal vector of the stacking reference plane through the cross product of the two vectors; determining the stacking reference plane according to the normal vector and the coordinates of the first trigger point P1.

[0016] The photovoltaic glass manipulator stacking control method designed by the present invention can redefine a reference plane when the first photovoltaic glass is stacked by introducing three plane displacement sensors, which greatly improves the accuracy and reliability of the stacking process. Based on the reference plane when the first photovoltaic glass is stacked, the plane displacement sensor monitors the pressure depth between the suction cup and the glass surface in real time, so as to adjust the stacking depth in time to avoid scratches or damage to the glass sheets due to excessive pressure depth during the stacking process. This method not only solves the problem of glass scratches caused by inaccurate pressure depth control in the traditional stacking process, but also optimizes the stacking accuracy through a dynamic adjustment mechanism, ensuring that each layer of glass is stacked flat and stable, thereby greatly improving the stacking efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the photovoltaic glass robot stacking control method provided in the embodiment of the present application.

[0018] Figure 2 This is a schematic diagram of triggering a planar displacement sensor provided in an embodiment of the present application.

[0019] Figure 3 It is a schematic diagram for determining the stacking reference plane provided in an embodiment of the present application. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] The photovoltaic glass robot stacking control method described in this embodiment is mainly used for cold end processing of photovoltaic glass. It controls the robot arm to drive the suction cup frame to grab the photovoltaic glass on the conveyor line and stack it on the stacking frame.

[0022] like Figure 1 As shown, the specific steps include:

[0023] S10. Obtain the coordinates of a plurality of planar displacement sensors pre-set on the suction cup frame in the robot arm coordinate system.

[0024] In this embodiment, the suction cup frame is usually installed at the end of the mechanical arm, and a plurality of suction cups for grabbing and placing the photovoltaic glass sheet are installed on it, and the plane displacement sensor is installed on the suction cup frame for real-time detection of the distance between the suction cup frame and the photovoltaic glass and other related displacement parameters. These sensors are not installed independently, but are integrated on the suction cup frame with a fixed geometric relationship, and in order to facilitate subsequent calculation and control, the real-time coordinates of these plane displacement sensors are recorded in the mechanical arm coordinate system, so that the position of each plane displacement sensor relative to the mechanical arm can be accurately determined, and then the precise relative position between the suction cup frame and the photovoltaic glass sheet during operation can be calculated. This unified coordinate management based on the mechanical arm coordinate system simplifies the complexity of data processing and improves data processing efficiency and accuracy.

[0025] In a specific implementation, there are three plane displacement sensors, and the three plane displacement sensors are distributed in a triangular shape on the suction cup frame. With such a layout, a unique plane can be determined using three non-collinear points, so that the control system can more accurately calculate the stacking reference plane, thereby simplifying the calculation steps, improving the calculation efficiency, and covering a larger range of the suction cup area.

[0026] S20. According to the edge center point of the turntable carrying the stacking rack and the specification parameters of the stacking rack, determine the center position of the front edge of the stacking rack, and set the offset value of the center of the bottom edge of the suction cup frame relative to the center position of the front edge of the stacking rack. Specifically, according to the coordinates of the center point of the edge of the turntable in the robot arm coordinate system, the length, width and height of the stacking rack, and the placement position and angle of the stacking rack relative to the turntable, calculate the coordinates of the center position of the front edge of the stacking rack in the robot arm coordinate system.

[0027] The coordinates of the center point of the turntable edge in the robot arm coordinate system can be obtained by pre-calibrating the turntable position and inputting it into the control system, or by real-time acquisition through a positioning sensor (such as an encoder or a visual sensor) installed on the turntable. The length, width, and height dimensions of the stacking rack usually include the length, width, and height of the stacking rack, as well as the relative position information of the feature points used for positioning. This information is usually pre-stored in the database of the control system and can be selected and called through the human-computer interaction interface.

[0028] The offset value is then calculated based on the coordinates of the center position of the front edge of the stacking frame in the robot arm coordinate system, the preset offset value, and the coordinates of the center of the bottom edge of the suction cup frame in the robot arm coordinate system. This offset value is a preset distance value in the vertical direction, which is used to adjust the relative height between the center of the bottom edge of the suction cup frame and the center position of the front edge of the stacking frame, ensuring that the first piece of glass will not collide with the stacking frame when placed, and also providing the necessary space for the subsequent construction of a dynamic reference plane and precise control of the stacking process. In this embodiment, the offset value is an empirical value set according to the actual application scenario.

[0029] In a specific embodiment, the system will pre-store the specification parameters of various types of stacking racks. When a different type of stacking rack needs to be replaced, the operator can select the corresponding model through the human-computer interaction interface, and the system can automatically obtain the specification parameters of the stacking rack of this model and perform subsequent calculations.

[0030] S30. Control the robot arm to drive the suction cup frame to move to the first stacking starting position determined by the offset value until at least three plane displacement sensors on the suction cup frame are triggered simultaneously. Figure 2 As shown in the figure, when the photovoltaic glass grasped by the robot grasping device moves to the predetermined stacking starting position and begins to approach the stacking rack, the plane displacement sensor will monitor the distance change between it and the glass surface in real time. When the sensor detects that the distance is less than the preset trigger threshold (for example, 1mm), and the three sensors are triggered within a very short time window (for example, 10ms), it is judged as a valid trigger, and the control system will immediately stop the downward movement of the robot arm. This joint judgment mechanism based on the trigger threshold and time window can effectively avoid false triggering caused by the shaking of the robot arm or the unevenness of the glass surface, thereby ensuring the accuracy and reliability of the trigger.

[0031] S40. Record the coordinate values ​​detected by each of the at least three plane displacement sensors when they are triggered, and obtain the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3. Specifically, each plane displacement sensor sends its real-time coordinate value in the robot arm coordinate system at the time of triggering to the control system. The control system receives and records these data, and marks them as the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3, respectively.

[0032] S50. According to the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3, a stacking reference plane with the first trigger point P1 as the reference point is calculated and determined. This dynamic determination method avoids relying on a preset or fixed reference plane, thereby eliminating the problem of reduced stacking accuracy caused by factors such as the position and posture changes of the turntable or the installation error of the stacking frame; and selecting the first trigger point P1 as the reference point can simplify the calculation process and make the calculation result more intuitively reflect the actual position of the first piece of glass.

[0033] Specifically, if Figure 3 As shown, the step of calculating the stacking reference plane includes: calculating two vectors from the first trigger point P1 to the second trigger point P2 and the third trigger point P3, and calculating the normal vector of the stacking reference plane through the cross product of the two vectors; determining the stacking reference plane according to the normal vector and the coordinates of the first trigger point P1. Three non-collinear points can uniquely determine a plane, that is, calculate the vector from the first trigger point P1 to the second trigger point P2, and the vector from the first trigger point P1 to the third trigger point P3, obtain the normal vector, and then determine the stacking reference plane according to the normal vector and the coordinates of the first trigger point P1.

[0034] S60. In the subsequent stacking process, the target stacking position of the photovoltaic glass to be stacked is calculated according to the number of stacked glass sheets and the real-time pressure depth distance value of the plane displacement sensor relative to the stacking reference plane, and the robot arm is controlled to drive the suction cup frame to place the photovoltaic glass at the target stacking position. Specifically, this pressure depth distance represents the actual distance between the center of the bottom edge of the suction cup frame and the stacking reference plane, reflecting the relative height between the current robot arm and the stacked glass sheets. Combined with the number of glass sheets that have been stacked, the photovoltaic glass to be stacked can be accurately placed at the target position, ensuring that each piece of glass can be accurately stacked, effectively avoiding error accumulation and glass scratches, thereby improving the accuracy and quality of stacking.

[0035] In some embodiments, the plane displacement sensor is installed at the center of the suction cup of the suction cup holder. In this way, by installing the plane displacement sensor at the center of the suction cup, the measuring point of the plane displacement sensor can coincide with the adsorption point of the suction cup, which means that the distance data measured by the plane displacement sensor can more directly reflect the distance between the suction cup and the glass plate, reducing the coordinate conversion and calculation errors caused by the difference in the installation position.

[0036] The photovoltaic glass manipulator stacking control method provided in this embodiment can redefine a reference plane when the first photovoltaic glass is stacked by introducing three plane displacement sensors, which greatly improves the accuracy and reliability of the stacking process. Based on the reference plane when the first photovoltaic glass is stacked, the plane displacement sensor monitors the pressure depth between the suction cup and the glass surface in real time, so as to adjust the stacking depth in time to avoid scratches or damage to the glass sheets due to excessive pressure depth during the stacking process. This method not only solves the problem of glass scratches caused by inaccurate pressure depth control in the traditional stacking process, but also optimizes the stacking accuracy through a dynamic adjustment mechanism, ensuring that each layer of glass is stacked flat and stable, thereby greatly improving the stacking efficiency and quality.

[0037] In the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A photovoltaic glass manipulator stacking control method, applied to photovoltaic glass cold end processing, controls the manipulator arm to drive the suction cup frame to grab the photovoltaic glass on the conveyor line and stack it on the stacking frame, characterized in that: The following steps are involved: S10. Obtain the coordinates of the plurality of planar displacement sensors pre-set on the suction cup frame in the robot arm coordinate system; S20. Determine the center position of the front edge of the stacking frame according to the edge center point of the turntable carrying the stacking frame and the specification parameters of the stacking frame, and set the offset value of the bottom edge center of the suction cup frame relative to the center position of the front edge of the stacking frame; S30. Control the robot arm to drive the suction cup frame to move to the first stacking starting position determined by the offset value until at least three plane displacement sensors on the suction cup frame are triggered simultaneously; S40. Record the coordinate values ​​detected by each of the at least three planar displacement sensors when they are triggered, and obtain the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3; S50. According to the coordinates of the first trigger point P1, the second trigger point P2, and the third trigger point P3, a stacking reference plane with the first trigger point P1 as a reference point is calculated and determined; S60. In the subsequent stacking process, the target stacking position of the photovoltaic glass to be stacked is calculated according to the number of stacked glass sheets and the real-time pressure depth distance value of the plane displacement sensor relative to the stacking reference plane, and the robotic arm is controlled to drive the suction cup frame to place the photovoltaic glass at the target stacking position.

2. The photovoltaic glass manipulator stacking control method according to claim 1, characterized in that: The planar displacement sensor is installed at the center position of the suction cup of the suction cup frame.

3. The photovoltaic glass manipulator stacking control method according to claim 1 or 2, characterized in that: There are three plane displacement sensors, and the three plane displacement sensors are distributed in a triangle shape on the suction cup frame.

4. The photovoltaic glass manipulator stacking control method according to claim 1, characterized in that: In step S20, the coordinates of the center position of the front edge of the stacking rack in the robotic arm coordinate system are calculated based on the coordinates of the center point of the turntable edge in the robotic arm coordinate system, the length, width and height of the stacking rack, and the placement position and angle of the stacking rack relative to the turntable; the offset value is calculated based on the coordinates of the center position of the front edge of the stacking rack in the robotic arm coordinate system, the preset offset value and the coordinates of the bottom edge center of the suction cup rack in the robotic arm coordinate system.

5. The photovoltaic glass manipulator stacking control method according to claim 1, characterized in that: The step of calculating the stacking reference plane includes: calculating two vectors from the first trigger point P1 to the second trigger point P2 and the third trigger point P3, and calculating the normal vector of the stacking reference plane through the cross product of the two vectors; determining the stacking reference plane according to the normal vector and the coordinates of the first trigger point P1.

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