Print table operation control method and printing apparatus, storage medium

Abstract

The application provides a printing platform operation control method and a printing device and a storage medium. The method comprises the following steps: after a target battery piece is received, controlling the printing platform to move from a feeding station to a printing station at a preset first speed; after the target battery piece is printed, controlling the printing platform to move from the printing station to a discharging station at a preset second speed; after the target battery piece leaves the discharging station, controlling the printing platform to return to the feeding station from the discharging station at a preset third speed; wherein the third speed is less than at least one of the first speed and the second speed. The method can not only reduce the overall production cycle time and improve the production efficiency, but also reduce the energy consumption and friction loss and reduce the heat generation by setting different running speeds in different running stages.

Description

Technical Field

[0001] This invention relates to the field of battery cell processing technology, specifically to a printing stage operation control method, printing apparatus, and storage medium. Background Technology

[0002] In the production and processing of solar cells, efficient and precise transportation of solar cells is a crucial step in ensuring production quality and efficiency. Typically, solar cells begin at the feeding station, undergo a series of processing steps, and finally reach the printing station for critical pattern or electrode printing. Afterward, they are transferred to the unloading station for collection or further processing. Once this series of operations is complete, the transportation system must return the empty transport vehicles (such as conveyor belts and transfer mechanisms) to the feeding station to prepare for the next round of solar cell transport.

[0003] However, in this complex transportation process, motor overheating has become one of the key factors restricting production efficiency and equipment stability. Specifically, when the solar cells are transported from the feeding station to the printing station, the motor driving the transport vehicle needs to output appropriate power to ensure accurate alignment of the cells. Similarly, during the movement from the printing station to the unloading station, the motor also needs to maintain stable transport.

[0004] Prolonged high-load operation and frequent start-stop cycles of the motor not only lead to increased motor temperature but can also trigger a series of problems, such as insulation aging, grease deterioration, and bearing wear. These issues will severely impact the motor's lifespan and performance. Furthermore, the high motor temperature can adversely affect surrounding electronic components and mechanical parts, such as accelerating aging and reducing reliability, thereby further impacting the stability and efficiency of the entire battery cell production line. Summary of the Invention

[0005] One of the objectives of this invention is to provide a printing stage operation control method to solve the technical problem in the prior art that production efficiency and motor energy consumption cannot be balanced during the printing process of battery cells.

[0006] One of the objectives of this invention is to provide a printing apparatus.

[0007] One of the objectives of this invention is to provide a computer storage medium.

[0008] To achieve one of the above-mentioned objectives, the present invention provides a printing stage operation control method, comprising: upon receiving a target battery cell, controlling the printing stage to move from the loading station to the printing station at a preset first speed; after the target battery cell is printed, controlling the printing stage to move from the printing station to the unloading station at a preset second speed; and after the target battery cell leaves the unloading station, controlling the printing stage to return from the unloading station to the loading station at a preset third speed; wherein the third speed is less than at least one of the first speed and the second speed.

[0009] As a further improvement of one embodiment of the present invention, the method further includes: after receiving the target battery cell, controlling the printing stage to move from the loading station to the printing station according to a preset first acceleration; after the target battery cell is printed, controlling the printing stage to move from the printing station to the unloading station according to a preset second acceleration; after the target battery cell leaves the unloading station, controlling the printing stage to return from the unloading station to the loading station according to a preset third acceleration; wherein the third acceleration is less than at least one of the first acceleration and the second acceleration.

[0010] As a further improvement of one embodiment of the present invention, the printing stage includes a first printing stage and a second printing stage; the control method further includes: controlling the first printing stage to move from the loading station to the printing station at a preset fourth speed; controlling the second printing stage to move from the printing station to the unloading station at a preset fifth speed; wherein the fourth speed is less than or equal to the fifth speed.

[0011] As a further improvement of one embodiment of the present invention, the method further includes: before the printing stage receives the target battery cell, controlling the transfer component to grab the target battery cell; when the distance between the transfer component and the printing stage reaches a preset value, turning off the negative pressure component in the transfer component and activating the negative pressure component to provide negative pressure adsorption force to the printing stage, so that the target battery cell is adsorbed and fixed at the printing stage.

[0012] As a further improvement of one embodiment of the present invention, before the target battery cell is printed, the method further includes: adjusting the configuration parameters of the camera and / or the position information of the screen based on a visual calibration method, taking a picture of the target battery cell using the adjusted camera, and determining whether the captured image meets the preset conditions; if yes, then controlling the print head to perform a printing operation on the target battery cell on the printing stage; if no, then adjusting the position of the target battery cell on the printing stage.

[0013] As a further improvement of one embodiment of the present invention, the printing stage includes a screen printing plate. Before the target battery cell is photographed using the visual calibration method, the method further includes: determining the calibration information of all cameras in the same camera coordinate system using a three-dimensional visual calibration method based on image information of the calibration plate captured by several cameras; adjusting the target configuration parameters of each camera based on the calibration information; controlling the printing stage to move along the X-axis a first preset number of times, and / or controlling the screen printing plate to perform a first action along the Y-axis a second preset number of times, and / or along the T-axis a third preset number of times; controlling the camera to photograph the screen printing plate after performing the first action according to the target configuration parameters; determining calibration transformation information based on the captured image information and the actual position information of the screen printing plate, wherein the calibration transformation information is used to determine the mapping relationship between the camera coordinate system and the XYT coordinate system of the screen printing plate; and adjusting at least one of the position information and angle information of the printing stage based on the calibration transformation information and the image information of the calibration plate set on the printing stage.

[0014] As a further improvement of one embodiment of the present invention, the step of determining the calibration conversion file based on the captured image information and the actual location information of the cloud drive includes: obtaining the physical coordinate information of a number of marker points in the screen printing plate in the XYT coordinate system; determining the pixel coordinate information of the number of marker points based on the captured image information of the screen printing plate; and determining the calibration conversion information based on the difference between the physical coordinate information and the corresponding pixel coordinate information.

[0015] As a further improvement of one embodiment of the present invention, before receiving the target battery cell, the method further includes: activating a negative pressure component in the printing stage when the transfer component moves to the printing stage or the distance between the transfer component and the printing stage reaches a preset value; determining whether the actual pressure value of the negative pressure component meets a preset vacuum level; if yes, determining that the printing stage has successfully adsorbed and fixed the target battery cell; if no, generating a prompt message to indicate to the user that the current target battery cell is abnormal.

[0016] To achieve one of the above-mentioned objectives, the present invention also provides a printing apparatus for executing the printing stage operation control method as described in any of the above technical solutions. The printing apparatus includes a printing stage and further includes: a first control module, configured to control the printing stage to move from the loading station to the printing station at a preset first speed after receiving a target battery cell; and to control the printing stage to move from the printing station to the unloading station at a preset second speed after the target battery cell has been printed; a second control module, configured to control the printing stage to return from the unloading station to the loading station at a preset third speed after the target battery cell has left the unloading station; wherein the third speed is less than at least one of the first speed and the second speed.

[0017] To achieve one of the above-mentioned objectives, the present invention also provides a computer storage medium storing a computer program, which, when executed by a processor, performs the steps of the printing stage operation control method as described in any of the above technical solutions.

[0018] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0019] This invention employs a printing platform operation control method. Upon receiving a target solar cell, the printing platform rapidly moves from the loading station to the printing station at a preset first speed. This high speed ensures the solar cell can quickly enter the printing area, thereby reducing overall production cycle time and improving production efficiency. After completing the printing operation, the printing platform moves from the printing station to the unloading station at a preset second speed to ensure the solar cell is smoothly and accurately transferred to the next processing stage. Once the target solar cell leaves the unloading station, the printing platform returns to the loading station at a slower third speed. This reduces motor energy consumption and friction loss, thereby lowering motor heat generation and extending motor lifespan. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the steps of a printing stage operation control method according to an embodiment of the present invention.

[0021] Figure 2 This is a schematic diagram of the steps of a printing stage operation control method in another embodiment of the present invention.

[0022] Figure 3 This is a schematic diagram of the steps prior to step S1 in one embodiment of the present invention.

[0023] Figure 4 This is a flowchart illustrating a visual calibration method in one embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of step P21 in a specific embodiment of the present invention.

[0025] Figure 6 This is a schematic diagram of the process for adjusting the position information of the actuator by visual imaging in one embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the printing apparatus in one embodiment of the present invention. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0028] It should be noted that the term "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," "third," "fourth," and "fifth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] like Figure 1 As shown, one embodiment of the present invention provides a printing stage operation control method.

[0030] The printing stage operation control method can be applied to a printing apparatus.

[0031] In one embodiment, the printing apparatus can be configured as described below, and the corresponding technical solution settings are referenced in the generation method provided by this invention. Of course, the printing apparatus to which the printing stage operation control method provided by this invention is applied is not limited to this configuration.

[0032] like Figure 1 As shown, a printing stage operation control method provided in one embodiment of the present invention includes the following steps.

[0033] Step S1: After receiving the target battery cell, control the printing stage to move from the loading station to the printing station at a preset first speed; Step S2: After the target battery cell is printed, control the printing stage to move from the printing station to the unloading station at a preset second speed; Step S3: After the target cell leaves the unloading station, control the printing stage to return from the unloading station to the loading station at a preset third speed. The third speed is less than at least one of the first speed and the second speed.

[0034] Thus, upon receiving the target solar cell, the printing platform rapidly moves from the loading station to the printing station at a preset first speed. This high speed ensures the solar cell enters the printing area quickly, reducing overall production cycle time and improving efficiency. After printing, the printing platform moves from the printing station to the unloading station at a preset second speed to ensure the solar cell is smoothly and accurately transferred to the next processing stage. Once the target solar cell leaves the unloading station, the printing platform returns to the loading station at a slower third speed. This reduces motor energy consumption and friction loss, thereby lowering motor heat generation and extending motor lifespan.

[0035] In step S1, the printing stage is a platform or mechanism used to carry and move the target solar cell. It moves the target solar cell from the loading station to the printing station at a preset speed, moves the printed target solar cell to the unloading station after printing at the printing station, and finally returns it to the loading station. The printing stage may include a drive mechanism, a positioning mechanism, and a control module to ensure that the solar cell can move accurately and quickly to the designated position.

[0036] In one embodiment, the printing platform is moved at a preset speed based on motor control. The motor can be a linear motor, which directly converts electrical energy into linear mechanical energy.

[0037] The printing station is the area where solar cells undergo printing operations. At the printing station, the cells can receive various printing operations such as coating, spraying, and screen printing to form the desired circuits, patterns, or protective layers. The printing station can be equipped with appropriate printing equipment (such as printheads) and a corresponding control system to ensure printing quality and efficiency.

[0038] The loading station is where the solar cell processing begins. At the loading station, the target solar cell is placed on the printing table, ready to be moved to the printing station for printing. The unloading station is where the solar cell completes its processing and is ready to leave.

[0039] It should be noted that the first, second, and third speeds in steps S1 to S3 are all average speeds. This means that the speed of the printing stage is set to a relatively stable value or at least within an acceptable fluctuation range throughout the entire movement process. This reduces the complexity of the control logic, minimizes vibration and errors caused by speed variations, and ensures printing quality and positioning accuracy.

[0040] In one embodiment, the third speed can be a constant speed (i.e., uniform speed movement). This means that the speed of the printing stage will remain at this preset constant speed throughout the entire process of returning from the unloading station to the loading station.

[0041] Furthermore, during the control processes in steps S1 and S2, the printing platform carries the target solar cell. Controlling the movement of the printing platform at a higher first speed and / or second speed allows for a shorter time to complete the movement from the loading station to the printing station, and then from the printing station to the unloading station, thus shortening the entire production cycle and improving production efficiency. In the no-load state (step S3), controlling the printing platform to move at a lower third speed reduces motor energy consumption, lowers production costs, and extends the equipment's lifespan.

[0042] Based on this, by increasing the operating speed when under load and decreasing the operating speed when not under load, the production efficiency can be guaranteed while minimizing motor heating, reducing energy consumption and damage to the motor.

[0043] In one specific embodiment, the first speed is equal to the second speed, the first speed and the second speed are 3000mm / s-3500mm / s, and the third speed is 2500mm / s-3000mm / s.

[0044] In one embodiment, the printing stage includes a first printing stage and a second printing stage. The control method further includes the following steps.

[0045] Step S1': Control the first printing platform to move from the loading station to the printing station at a preset fourth speed; Step S2': Control the second printing platform to move from the printing station to the unloading station at a preset fifth speed; The fourth speed is less than or equal to the fifth speed.

[0046] In this way, by setting different moving speeds for different moving stages, the moving times of the first and second printing platforms on the production line are staggered, reducing the chance of them meeting at the same time and place, thereby reducing the risk of collision.

[0047] It should be noted that the first printing stage and the second printing stage are physically adjacent or have a potential collision risk. By setting the fourth speed to be less than or equal to the fifth speed, it can be ensured that when the first printing stage moves to the printing station, the second printing stage has already left the area at a faster speed (the fifth speed), or at least will not occupy the same space as the first printing stage at the same time.

[0048] In one specific embodiment, the first printing stage and the second printing stage are controlled to perform alternating cyclic reflow operations.

[0049] Specifically, the first and second printing stations may be physically adjacent, but they operate independently, each responsible for a portion of the production tasks. When the first printing station performs a first operation, the second printing station performs a second operation. The first operation includes loading, printing, or unloading; the second operation includes loading, printing, or unloading, as well as a return trip from the unloading station back to the loading station. After completing one production cycle, each station returns to its starting point or the previous station to begin the next cycle. This return trip is cyclical, meaning the stations continuously move along the production line, performing production tasks. This alternating approach ensures continuity and efficiency on the production line.

[0050] In one specific embodiment, the fourth and fifth velocities are 3000 mm / s to 3500 mm / s.

[0051] like Figure 2 As shown, in another embodiment, the control method may further include the following steps.

[0052] Step S1': After receiving the target battery cell, control the printing stage to move from the loading station to the printing station according to a preset first acceleration; Step S2': After the target cell is printed, control the printing stage to move from the printing station to the unloading station according to the preset second acceleration; Step S3': After the target cell leaves the unloading station, control the printing stage to return from the unloading station to the loading station according to the preset third acceleration.

[0053] The third acceleration is less than at least one of the first acceleration and the second acceleration.

[0054] In one specific embodiment, the first acceleration is equal to the second acceleration, and the first and second accelerations are 3400 mm / s². 2 The third acceleration is 2800 mm / s². 2 .

[0055] To ensure that the target solar cell is placed stably and accurately on the printing stage, the transfer assembly and the printing stage are controlled to turn the negative pressure assembly on and off at appropriate positions or times.

[0056] In one embodiment, before the printing stage receives the target battery cell, the transfer component is controlled to grab the target battery cell. When the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component in the transfer component is turned off, and the negative pressure component that provides negative pressure adsorption force to the printing stage is activated, so that the target battery cell is adsorbed and fixed at the printing stage.

[0057] Thus, when the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component of the transfer component is turned off. This ensures that by the time the target solar cell contacts the printing stage, the negative pressure of the transfer component has gradually decreased to the point of shutdown, preventing impacts and vibrations caused by sudden release of suction and protecting the solar cell from damage. Furthermore, simultaneously activating the negative pressure component of the printing stage ensures that the target solar cell is immediately and stably adsorbed upon contact with the printing stage, achieving seamless transfer.

[0058] A negative pressure assembly is a device or system that generates negative pressure, enabling a transfer assembly to hold the target material. Negative pressure, also known as vacuum or suction, refers to a state where the gas pressure at a point is lower than atmospheric pressure. Negative pressure can be achieved by creating an area with a pressure lower than atmospheric pressure, whereby atmospheric pressure pushes the target material towards the suction assembly, thus holding it in place.

[0059] A transfer assembly is a device or tool used in automated production lines to pick up and move materials (such as solar cells) using negative pressure or vacuum. A transfer assembly typically consists of a suction cup assembly that generates negative pressure and a mechanical structure that moves the suction cup assembly.

[0060] like Figure 3 As shown, in one embodiment, before receiving the target battery cell in step S1, the method further includes the following steps.

[0061] Step P11: When the transfer component moves to the printing stage or the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component inside the printing stage is activated. Step P12: Determine whether the actual pressure value of the negative pressure component meets the preset vacuum level; If so, proceed to step P13A to determine that the printing stage has successfully adsorbed and fixed the target battery cell. If not, proceed to step P13B to generate a notification message to the user indicating that the current target battery cell is malfunctioning.

[0062] In this way, by monitoring the actual pressure value within the transfer assembly and comparing it with the preset vacuum level, the success of adsorption can be accurately determined. If adsorption fails, it may be due to a problem with the battery cell itself or other interfering factors during the adsorption process. The system then generates an alert message so that the user can promptly check and resolve the issue. This automated monitoring and judgment mechanism improves the accuracy and reliability of material handling and reduces the need for manual intervention.

[0063] During the process of the transfer assembly adsorbing the target solar cell, the actual pressure value reflects the pressure state inside the transfer assembly (or between the adsorption surface and the target solar cell). The actual pressure value can be detected using a pressure sensor. The preset vacuum level is a pre-set pressure threshold used to determine whether the transfer assembly has successfully adsorbed the target solar cell.

[0064] In one embodiment, the preset vacuum level is -0.35 bar.

[0065] In one embodiment, the target cell anomaly includes the target cell being broken.

[0066] Before printing on the target solar cell (i.e., between steps S1 and S2), the position of the target solar cell needs to be corrected. This correction ensures that the relative position between the solar cell and the printing template or print head is accurate. This helps reduce misalignment, ghosting, and other problems during the printing process, and improves the clarity and consistency of the printed pattern.

[0067] In one embodiment, before the target wafer is printed in step S2, the method further includes the following steps.

[0068] Step P21: Adjust the camera configuration parameters and / or screen position information based on the visual calibration method, and use the adjusted camera to photograph the target battery cell; Step P22: Determine whether the captured image meets the preset conditions; If so, proceed to step P23A and control the print head to perform the printing operation on the target battery cell on the printing stage; If not, proceed to step P23B and adjust the position of the target cell on the printing stage.

[0069] In this way, by accurately photographing the target battery cell using a visual calibration method and determining whether the obtained image meets the preset printing conditions, the accuracy and efficiency of printing can be effectively improved, and printing errors caused by poor image quality can be reduced.

[0070] The preset conditions in step P22 may include whether the captured image matches the standard image, and whether the captured image contains at least one of the following: for example, if the captured image only captures a part of the battery cell and is not a complete battery cell, it is determined that the preset conditions are not met; or if the captured image contains multiple dividing lines (cracks), it is determined that the preset conditions are not met.

[0071] Visual calibration methods are used to determine the camera's internal parameters (such as focal length, optical center position, etc.) and external parameters (the camera's position and orientation in three-dimensional space). In this invention, visual calibration can include distortion and checkerboard calibration, N-point calibration, and teaching calibration. Distortion and checkerboard calibration is used to establish multiple shooting cameras in the same planar coordinate system, forming a camera coordinate system; N-point calibration is used to establish a coordinate relationship between the camera coordinate system and the XYT actuator (physical space) used to control the screen printing plate to perform the first action; teaching calibration is used to determine the position of the screen printing plate image center in the camera coordinate system, establishing a reference point.

[0072] like Figure 4 As shown, the camera distortion calibration process is initiated to correct image distortion caused by the camera lens; it is determined whether the images before and after correction meet the set conditions; if so, the distortion calibration is considered successfully completed, and the checkerboard calibration is initiated. Using the checkerboard pattern as the calibration object, multiple checkerboard images from different angles and positions are captured, and the internal and external parameters of the camera are determined using the corner information in the checkerboard images; the corners or intersections of the checkerboard in the captured images are detected, and it is determined whether the number of detected feature points meets the set conditions; if so, the checkerboard calibration is considered successfully completed, and N-point calibration is initiated; the printing stage is moved to the camera's image position, and the calibration board is placed on the stage; the calibration board image is captured, and it is determined whether the coordinate information of several coordinate points in the calibration board image matches the preset coordinate information; if so, the N-point calibration is considered successfully completed, and teaching calibration is initiated; the position information of preset points or preset areas is defined; the difference between the actual measured position information and the position information of the preset points or preset areas is determined whether the conditions are met; if so, the teaching calibration is considered successfully completed.

[0073] If any of the above calibrations is not successfully completed, it is determined whether the calibration error is greater than the set value or whether the difference between the clarity of the captured photo and the clarity of the standard image is greater than the set value. If so, an alarm signal is triggered, and after the alarm is triggered, it is checked whether the brightness of the light source is appropriate and / or whether the cleaning operation of the dirt on the calibration board has been completed. If so, the alarm signal is reset and the next round of visual calibration process is re-executed.

[0074] Distortion is an image distortion phenomenon that occurs during the camera imaging process. Checkerboard calibration uses a checkerboard pattern as a calibration object. By taking multiple checkerboard images from different angles and positions, the internal and external parameters of the camera are determined using the corner information in the checkerboard images.

[0075] N-point calibration involves photographing a calibration board at multiple locations. The calibration board includes N marker points with known coordinate information. Based on the coordinate information of the marker points and the pixel information of the corresponding calibration board images, the camera's intrinsic and extrinsic parameters are determined. These intrinsic and extrinsic parameters enable accurate transformation of points in the image coordinate system to the physical coordinate system, thereby achieving the association between the image and the physical platform.

[0076] Teaching calibration refers to determining the position of the screen in the camera coordinate system and establishing a reference point through manual operation or preset program.

[0077] For example, the printing stage is moved to the camera's image capture position, the calibration board is placed on the stage surface, the stage backlight is turned on on the host computer screen, four cameras are activated to capture images of the calibration board, and the results are fed back to the host computer. The backlight is then turned off. Image processing is performed on the captured calibration board images, and the internal and / or external parameters of the four cameras are adjusted based on the image processing results to establish the four cameras in the same planar coordinate system. (Distortion and checkerboard calibration) Using an L-shaped bracket with marked points on the printing platform to provide a stable calibration reference, the printing platform is controlled to translate 9 times along the X-axis (first preset number of times), the screen is controlled to translate 9 times along the Y-axis (second preset number of times), and rotated 3 times along the T-axis based on the 5th marked point. After each position is completed, the camera is triggered to take a picture to obtain the image and physical coordinates, and the corresponding image and coordinate information is fed back to the host computer. Finally, a calibration conversion file is obtained that establishes the association between the camera coordinate system and the XYT three-axis coordinate system. The position and / or angle of the XYT axes are adjusted according to the calibration conversion file. (N-point calibration) Move the printing stage to the camera's capture position and place an A4 sheet of paper on it. Simultaneously, activate the negative pressure component on the printing stage to adjust the screen's position so that its current position on the YT axis is 0mm (printing start point), ensuring a consistent starting position for each print. Move the printing stage to the printing station and perform a test print on the A4 paper. After the test print, move the printing stage to the camera's capture position to photograph the image of the screen printed on the A4 paper. Determine the corresponding center coordinates based on the photographed image and upload them to the host computer as a teaching reference point. (Teaching Calibration) The working principles and adjustment processes of the above-mentioned distortion and checkerboard calibration, N-point calibration and teaching calibration can be referred to the existing calibration methods, and will not be elaborated here.

[0078] like Figure 5 As shown, in one specific embodiment, before taking a picture of the target battery cell based on the visual calibration method in step P21, the method may further include the following steps.

[0079] Step P211: Control the printing stage to move along the X-axis a first preset number of times, and / or control the screen to perform the first action along the Y-axis a second preset number of times, and / or along the T-axis a third preset number of times; Step P212: Control the camera to take pictures of the screen after the first action is performed according to the target configuration parameters. Based on the captured image information and the actual position information of the screen, determine the calibration transformation information. The calibration transformation information is used to determine the mapping relationship between the camera coordinate system and the XYT coordinate system of the screen. Step P213: Based on the calibration conversion information and the image information of the calibration plate set on the printing stage, adjust at least one of the position information and angle information of the printing stage.

[0080] Thus, by controlling the movement of the printing platform and the screen, and using camera images combined with the actual position information of the screen, the mapping relationship (i.e., calibration transformation information) between the camera coordinate system and the screen coordinate system was determined. Subsequently, using this mapping relationship and the image information from the calibration plate, the position and angle of the printing platform were precisely adjusted. This series of operations aims to improve the positioning accuracy during the printing process and ensure print quality.

[0081] In step P211, the first action includes controlling the screen to move along the Y-axis a second preset number of times and to rotate along the T-axis by a preset angle, at least one of the following: X-axis movement refers to controlling the printing stage to move in the horizontal direction; Y-axis movement refers to controlling the screen to move in the vertical direction; and T-axis rotation refers to controlling the direction and / or angle of rotation of the screen.

[0082] In one specific embodiment, the step P212, which involves determining the calibration conversion file based on the captured image information and the actual location information of the cloud drive, includes the following steps.

[0083] Step P2121: Obtain the physical coordinate information of several marker points in the XYT coordinate system in the screen layout; Step P2122: Determine the pixel coordinate information of several marker points based on the image information of the captured screen. Step P2123: Determine the calibration transformation information based on the difference between the physical coordinate information and the corresponding pixel coordinate information.

[0084] Thus, by comparing the coordinates of the marked points on the screen in the physical coordinate system (XYT) with the pixel coordinates in the captured image, the calibration transformation information for converting the image pixel coordinates to physical coordinates is determined.

[0085] After the camera calibration is completed, the calibrated camera is put into the printing production process to take pictures of the battery cells, obtain the actual position of the battery cells, and compare it with the coordinate position of the teaching reference point obtained in the teaching calibration to determine the corresponding offset value. Based on the offset value, the offset of the printing stage in the X-axis direction and / or the offset of the screen in the YZ-axis direction (Y-axis direction and / or T-axis direction) are adjusted.

[0086] Based on this, such as Figure 6 As shown, the system begins photographing the light source to determine if the printing platform successfully adsorbs the target battery cell at the loading station. If so, the camera is activated to photograph the target battery cell, and the captured image is processed and analyzed to determine if the visual photograph result meets the preset standard image. If the visual photograph result does not meet the preset standard image, it is determined whether the battery cell on the printing platform is broken or whether the difference between the clarity of the photographed battery cell image and the clarity of the standard image is greater than a preset value. If so, an alarm signal is triggered, and after the alarm is triggered, it is determined whether the broken battery cell on the printing platform has been cleaned or a new battery cell has been placed on the printing platform. If so, the placement position of the battery cell is photographed again for confirmation.

[0087] If the visual image capture result meets the preset standard image, the XYT control actuator is adjusted accordingly according to the XYT three-axis position offset determined by the camera calibration, so that the position of the battery cell matches the preset position of the printing table. After the positioning calibration is completed, it is detected and determined whether the printing table has reached the preset printing position. If so, the printing head is controlled to perform the printing operation on the target battery cell on the printing table.

[0088] One embodiment of the present invention provides a printing apparatus. The printing apparatus includes a printing stage for supporting and fixing a target battery cell, enabling stable printing operations within the printing apparatus.

[0089] In one embodiment, the printing apparatus moves the printing platform on which the target battery cell is placed from the loading station to the printing station according to a printing platform operation control method. After the printing operation is completed at the printing station, the printing platform on which the printed target battery cell is placed is moved from the printing station to the unloading station.

[0090] In one specific embodiment, the printing stage operation control method can be implemented with reference to any of the technical solutions provided above.

[0091] The printing apparatus also includes a first control module, used to control the printing stage to move from the loading station to the printing station at a preset first speed after receiving the target cell. The first control module is used to control the printing stage to move from the printing station to the unloading station at a preset second speed after printing on the target cell is completed. The printing apparatus also includes a second control module, which controls the printing stage to return from the unloading station to the loading station at a preset third speed after the target cell leaves the unloading station. The third speed is less than at least one of the first speed and the second speed.

[0092] For example, such as Figure 7 As shown, the printing stage 20 can move horizontally back and forth along the direction marked by the arrow in the figure. Assuming position 11 is the loading station, position 12 is the printing station, and position 13 is the unloading station, the printing stage is controlled to move from the loading station 11 to the printing station 12 at a preset first speed. After the target cell is printed, the printing stage is controlled to move from the printing station 12 to the unloading station 13 at a preset second speed. After the target cell leaves the unloading station, the printing stage is controlled to return from the unloading station 13 to the loading station 11 at a preset third speed.

[0093] One embodiment of the present invention provides a computer-readable storage medium.

[0094] In one embodiment, a computer-readable storage medium stores a computer program executed by the processor mentioned above, or a printing stage operation control method from any of the preceding technical solutions.

[0095] When the processor executes the computer program, it can perform the description of the printing stage operation control method in any of the preceding technical solutions; therefore, it will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated.

[0096] The computer-readable storage medium may include: flash drive, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc.

[0097] In summary, the printing stage operation control method, printing apparatus, and storage medium provided by this invention address the following: Upon receiving a target solar cell, the printing stage rapidly moves from the loading station to the printing station at a preset first speed. This high speed ensures that the solar cell can quickly enter the printing area, thereby reducing the overall production cycle time and improving production efficiency. After completing the printing operation, the printing stage moves from the printing station to the unloading station at a preset second speed to ensure that the solar cell can be smoothly and accurately transferred to the next processing stage. After the target solar cell leaves the unloading station, the printing stage returns to the loading station at a slower third speed. This reduces energy consumption and friction loss, thereby reducing heat generation, extending the service life of the apparatus, and improving its stability.

[0098] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0099] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling the operation of a printing stage, characterized in that, include: After receiving the target battery cell, the printing stage is controlled to move from the loading station to the printing station at a preset first speed; After the target solar cell is printed, the printing stage is controlled to move from the printing station to the unloading station at a preset second speed. After the target cell leaves the unloading station, the printing platform is controlled to return from the unloading station to the loading station at a preset third speed. Wherein, the third speed is less than at least one of the first speed and the second speed; Prior to printing the target solar cell, the method further includes: Based on the image information of the calibration board captured by several cameras, a three-dimensional visual calibration method is used to determine the calibration information of all cameras in the same camera coordinate system, and the target configuration parameters of each camera are adjusted according to the calibration information. The printing stage is controlled to move along the X-axis a first preset number of times, and the screen is controlled to perform a first action, the first action including: moving along the Y-axis a second preset number of times, and / or rotating along the T-axis by a preset angle a third preset number of times; The camera is controlled to capture images of the screen after the first action is performed according to the target configuration parameters. Based on the captured image information and the actual position information of the screen, the calibration transformation information is determined. The calibration transformation information is used to determine the mapping relationship between the camera coordinate system and the XYT coordinate system of the screen. Based on the calibration conversion information and the image information of the calibration plate set on the printing stage, adjust at least one of the position information and angle information of the printing stage; The target battery cell is photographed using the adjusted camera, and it is determined whether the photographed image meets the preset conditions. If yes, the printing operation is performed on the target battery cell on the printing stage; if no, the position of the target battery cell on the printing stage is adjusted. The visual calibration further includes teaching calibration, which is used to determine the position of the screen in the camera coordinate system to establish a reference point. After the camera calibration is completed, the calibrated camera is used to photograph the target battery cell to obtain its actual position, and the actual position is compared with the reference point coordinates obtained by the teaching calibration to determine the offset value. Based on the offset value, the offset of the printing stage in the X-axis direction and the offset of the screen in the Y-axis direction and / or the T-axis direction are adjusted.

2. The control method according to claim 1, characterized in that, The method further includes: After receiving the target battery cell, the printing stage is controlled to move from the loading station to the printing station according to a preset first acceleration; After the target solar cell is printed, the printing stage is controlled to move from the printing station to the unloading station according to the preset second acceleration; After the target cell leaves the unloading station, the printing stage is controlled to return from the unloading station to the loading station according to the preset third acceleration. The third acceleration is less than at least one of the first acceleration and the second acceleration.

3. The control method according to claim 1, characterized in that, The printing stage includes a first printing stage and a second printing stage; the control method further includes: Control the first printing platform to move from the loading station to the printing station at a preset fourth speed; Control the second printing platform to move from the printing station to the unloading station at a preset fifth speed; The fourth speed is less than or equal to the fifth speed.

4. The control method according to claim 1, characterized in that, The method further includes: Before the printing stage receives the target solar cell, the transfer component is controlled to grab the target solar cell. When the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component in the transfer component is turned off, and the negative pressure component that provides negative pressure adsorption force to the printing stage is activated, so that the target solar cell is adsorbed and fixed at the printing stage.

5. The control method according to claim 1, characterized in that, The step of determining the calibration conversion information based on the captured image information and the actual location information of the screen printing plate includes: Obtain the physical coordinate information of several marker points in the XYT coordinate system in the screen layout; Determine the pixel coordinates of several marker points based on the image information of the captured screen. The calibration transformation information is determined based on the difference between the physical coordinate information and the corresponding pixel coordinate information.

6. The control method according to claim 1, characterized in that, Prior to receiving the target battery cell, the method further includes: When the transfer component moves to the printing stage or the distance between the transfer component and the printing stage reaches a preset value, the negative pressure component inside the printing stage is activated. Determine whether the actual pressure value of the negative pressure component meets the preset vacuum level; If so, the printing stage is deemed to have successfully adsorbed and fixed the target battery cell. If not, a notification message will be generated to alert the user that the current target battery cell is malfunctioning.

7. A printing apparatus for executing the printing stage operation control method according to any one of claims 1-6, characterized in that, The printing apparatus includes a printing stage, and the printing apparatus further includes: The first control module is used to control the printing stage to move from the loading station to the printing station at a preset first speed after receiving the target cell; and to control the printing stage to move from the printing station to the unloading station at a preset second speed after the target cell is printed. The second control module is used to control the printing stage to return from the unloading station to the loading station at a preset third speed after the target battery cell leaves the unloading station. The third speed is less than at least one of the first speed and the second speed.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it performs the steps of the printing stage operation control method as described in any one of claims 1 to 6.

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