Calibration device of solar cell

Abstract

The utility model relates to a calibration device of a solar cell, which comprises a robot base, a fixing seat and a supporting frame, and a robot body is mounted on the robot base; and the positioning jig assembly comprises a lifting screw rod, an adjusting adapter block, a robot connecting plate, two linear bearings, two supporting gaskets, two fixing screws and two positioning pins, and the lifting screw rod is in threaded connection with the robot body. The positioning pin can be conveniently detached and replaced by the grabbing jig, the connection speed of positioning calibration and placing grabbing operation of the battery piece is increased, meanwhile, direct connection is established by calibrating the same coordinate system of the camera vision system and the robot, the vision system and the robot can rapidly and accurately operate in a linkage mode, and the working efficiency is improved. High-efficiency and high-precision placing operation of the photovoltaic series welding machine on the battery pieces is realized.

Description

Technical Field

[0001] The utility model belongs to the technical field of solar cell welding, in particular to a calibration device for solar cell. Background Art

[0002] Solar cells are the core component of solar photovoltaic panels. Their main function is to convert solar energy into electrical energy. The production of solar cells belongs to the field of solar photovoltaic industry. In the photovoltaic industry, for the welding of solar cells, it is necessary to accurately place the cells just above the photovoltaic welding tape. Since the diameter of the current mainstream photovoltaic welding tape is relatively small, only 0.26mm, the accuracy required for the placement of the cells is also very high, and the speed of the cells also needs to be gradually increased with the production capacity to reach one cell per second. Such fast cell placement needs to be achieved through visual assistance combined with high-precision high-speed robots. Due to the development trend of the photovoltaic industry, in order to further save costs and improve efficiency, the cells are becoming thinner and thinner when printing the main grid lines, which requires the production capacity and accuracy of photovoltaic string welding machines to become higher and higher. Therefore, increasing production capacity and improving accuracy have become a development trend in the photovoltaic industry.

[0003] However, the existing calibration devices for solar cells often have the following problems when used:

[0004] At present, the mainstream way of placing batteries in the industry is to first convey the battery cells through a belt with a vacuum adsorption function, and then use a mechanical mechanism to preliminarily position the battery cells, and then use the visual camera above to obtain the precise position of the current battery cells, and the program remembers the current position information. Then the robot gripper grabs the current battery cell, and then adjusts the coordinates of the robot gripper to achieve fixed-point placement on the front of the photovoltaic welding ribbon. At the same time, the position of the battery needs to be adjusted during the movement of the robot to ensure that the position of the battery cells lowered each time is consistent, so it is difficult to achieve high-precision and high-efficiency calibration and placement of solar cells. Utility Model Content

[0005] The purpose of the utility model is to provide a solar cell calibration device in view of the problems of solar cell welding technology raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a calibration device for solar cell, comprising:

[0007] A robot base, a fixing base and a supporting frame, wherein the robot body is mounted on the robot base;

[0008] A positioning fixture assembly, the positioning fixture assembly includes a lifting screw, an adjustment adapter block, a robot connecting plate, two linear bearings, two support washers, two fixing screws and two positioning pins, the lifting screw is threadedly connected to the robot body, the adjustment adapter block is arranged at the lower end of the lifting screw, the robot connecting plate is fixedly connected to the bottom of the adjustment adapter block, the two linear bearings are fixedly connected to the robot connecting plate through two support washers and two fixing screws, and the two positioning pins are respectively slidably connected to the inside of the two linear bearings;

[0009] The fixing seat is provided with a fixing component, and the supporting frame is provided with a visual adjustment component.

[0010] Furthermore, the fixed component includes two conveying rollers, a conveying belt, a servo motor, two synchronous wheels, a synchronous belt, a calibration plate, two positioning holes, a backlight light source device and a preliminary calibration device. The two conveying rollers are rotatably connected to the fixed seat, the two conveying rollers are connected by conveying belt transmission, the servo motor is fixedly connected to the fixed seat, the two synchronous wheels are respectively fixedly connected to one of the ends of the conveying rollers and the output end of the servo motor, the two synchronous wheels are connected by synchronous belt transmission, the calibration plate is arranged on the conveying belt, the two positioning holes are opened on the calibration plate, the backlight light source device is installed on the fixed seat, and the preliminary calibration device is installed on the support frame.

[0011] Furthermore, the visual adjustment component includes a camera fixing bracket, a camera mounting plate, a camera adjustment plate, a camera, a lens, a light source mounting plate, an L-shaped bracket and a ring-shaped light source, the camera fixing bracket is fixedly connected to the support frame, the camera mounting plate is fixedly connected to the camera fixing bracket by an adjusting bolt, the camera adjustment plate is fixedly connected to the camera mounting plate by an adjusting bolt, the camera is mounted on the camera adjustment plate, the lens is arranged on the camera, the light source mounting plate is fixedly connected to the camera fixing bracket by an L-shaped bracket and an adjusting bolt, and the ring-shaped light source is mounted on the bottom of the light source mounting plate.

[0012] Furthermore, two through slots are provided on the robot connecting plate, and the two linear bearings are respectively located in the two through slots.

[0013] Furthermore, a movable hole is opened on the robot base, and the fixing seat passes through the robot base through the movable hole.

[0014] Furthermore, triangles of equal size are engraved on the edges of the four sides of the calibration plate, and each triangle is located at the center of the side of the calibration plate.

[0015] Furthermore, the bottom side edges of the two positioning pins are both arranged with a certain arc structure, and the diameter of the positioning pins is smaller than the positioning holes on the calibration plate.

[0016] The utility model has the following advantages:

[0017] 1. A positioning fixture assembly is provided in the utility model, and the horizontal position of the robot base is adjusted by the gap size on the vertical plane of the positioning pin and the calibration plate, so that the vertical axis of the robot body can be parallel to the central axis of the camera, and the sliding of the positioning pin in the linear bearing and the contact adjustment of the calibration plate can cooperate to achieve the parallelism of the coordinate axes of the robot body and the camera. At the same time, the positioning pin can be easily removed and replaced with a grasping fixture through the provision of support gaskets and fixing screws, thereby accelerating the connection rate between the positioning calibration of the battery cell and the placement and grasping operation.

[0018] 2. A fixed component is provided in the utility model. When the battery cell is calibrated, the conveyor belt is moved by driving the conveyor roller to rotate, so that the battery cell can be quickly calibrated and placed. At the same time, the positioning holes and positioning pins on the calibration plate can cooperate to quickly establish the same coordinate system of the robot body and the camera, realize the direct connection between the robot body and the camera, and improve the calibration and placement accuracy of the battery cell.

[0019] 3. The utility model provides a visual adjustment component, which utilizes the camera to realize the visual functions of battery cell calibration and placement, and by establishing a direct connection between the camera and the robot body coordinate system, the camera's visual system can be quickly and accurately linked with the robot body's handling and positioning operations, thereby enabling the photovoltaic string welding machine to perform efficient and high-precision placement operations on the battery cells. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0021] Figure 2 yes Figure 1 A magnified image of point A;

[0022] Figure 3 It is a three-dimensional structural schematic diagram of the positioning fixture component part in the utility model;

[0023] Figure 4 yes Figure 3 The enlarged view of point B;

[0024] Figure 5 It is a three-dimensional structural schematic diagram of the support frame part of the utility model;

[0025] Figure 6 yes Figure 5 Enlarged view of point C.

[0026] In the figure, 1 is a robot base, 2 is a fixed seat, 3 is a support frame, 4 is a robot body, 5 is a fixture assembly, 51 is a lifting screw, 52 is an adjustment adapter block, 53 is a robot connecting plate, 54 is a linear bearing, 55 is a support gasket, 56 is a fixing screw, 57 is a positioning pin, 6 is a fixing assembly, 61 is a conveyor roller, 62 is a conveyor belt, 63 is a servo motor, 64 is a synchronous wheel, 65 is a synchronous belt, 66 is a calibration plate, 67 is a positioning hole, 68 is a backlight source device, 69 is a preliminary calibration device, 7 is a visual adjustment assembly, 71 is a camera fixing bracket, 72 is a camera mounting plate, 73 is a camera adjustment plate, 74 is a camera, 75 is a lens, 76 is a light source mounting plate, 77 is an L-shaped bracket, 78 is an annular light source, 8 is a movable hole, and 9 is a triangle. DETAILED DESCRIPTION

[0027] like Figure 1-Figure 4 As shown, a calibration device for solar cell includes a robot base 1, a fixing seat 2, a support frame 3 and a positioning fixture assembly 5: a movable hole 8 is opened on the robot base 1, the fixing seat 2 passes through the robot base 1 through the movable hole 8, and a robot body 4 is installed on the robot base 1; the positioning fixture assembly 5 includes a lifting screw 51, an adjustment adapter block 52, a robot connecting plate 53, two linear bearings 54, two supporting gaskets 55, two fixing screws 56 and two positioning pins 57, the lifting screw 51 is threadedly connected to the robot body 4, the adjustment adapter block 52 is arranged at the lower end of the lifting screw 51, the robot connecting plate 53 is fixedly connected to the bottom of the adjustment adapter block 52, the two linear bearings 54 are fixedly connected to the robot connecting plate 53 through two supporting gaskets 55 and two fixing screws 56, the robot connecting plate 53 is provided with two through grooves, the two linear bearings 54 are respectively located in the two through grooves, and the two positioning pins 57 are respectively slidably connected to the inside of the two linear bearings 54, and the bottom sides of the two positioning pins 57 are both arranged with a certain arc structure;

[0028] The sliding of the positioning pin 57 in the linear bearing 54 and the contact adjustment of the calibration plate 66 can coordinately achieve parallelism of the coordinate axes of the robot body 4 and the camera 74. At the same time, the setting of the support gasket 55 and the fixing screw 56 can facilitate the removal of the positioning pin 57 and replace it with a grasping fixture, thereby accelerating the connection rate between the positioning calibration of the battery cell and the placement and grasping operation.

[0029] like Figure 1 and Figure 2As shown, a fixing assembly 6 is provided on the fixing seat 2, and the fixing assembly 6 includes two conveying rollers 61, a conveying belt 62, a servo motor 63, two synchronous wheels 64, a synchronous belt 65, a calibration plate 66, two positioning holes 67, a backlight device 68 and a preliminary calibration device 69. The two conveying rollers 61 are rotatably connected to the fixing seat 2, and the two conveying rollers 61 are connected by transmission through the conveying belt 62. The servo motor 63 is fixedly connected to the fixing seat 2, and the two synchronous wheels 64 are respectively fixedly connected to one end of the conveying roller 61 and At the output end of the servo motor 63, two synchronous wheels 64 are connected by a synchronous belt 65, and a calibration plate 66 is arranged on the conveyor belt 62. The edges of the four sides of the calibration plate 66 are engraved with triangles 9 of equal size, and each triangle 9 is located at the center of the side of the calibration plate 66. Two positioning holes 67 are opened on the calibration plate 66, and the diameter of the positioning pin 57 is smaller than the positioning hole 67 on the calibration plate 66. The backlight device 68 is installed on the fixing seat 2, and the initial calibration device 69 is installed on the support frame 3;

[0030] By driving the conveyor roller 61 to rotate and drive the conveyor belt 62 to move, the battery cells can be quickly calibrated and placed. At the same time, the positioning holes 67 and the positioning pins 57 on the calibration plate 66 can quickly establish the same coordinate system for the robot body 4 and the camera 74, thereby realizing direct connection between the robot body 4 and the camera 74 and improving the calibration and placement accuracy of the battery cells.

[0031] like Figure 1 , Figure 5 and Figure 6 As shown, a visual adjustment component 7 is provided on the support frame 3, and the visual adjustment component 7 includes a camera fixing bracket 71, a camera mounting plate 72, a camera adjustment plate 73, a camera 74, a lens 75, a light source mounting plate 76, an L-shaped bracket 77 and an annular light source 78. The camera fixing bracket 71 is fixedly connected to the support frame 3, the camera mounting plate 72 is fixedly connected to the camera fixing bracket 71 by adjusting bolts, the camera adjustment plate 73 is fixedly connected to the camera mounting plate 72 by adjusting bolts, the camera 74 is mounted on the camera adjustment plate 73, the lens 75 is arranged on the camera 74, the light source mounting plate 76 is fixedly connected to the camera fixing bracket 71 by the L-shaped bracket 77 and the adjusting bolts, and the annular light source 78 is installed at the bottom of the light source mounting plate 76;

[0032] The camera 74 is used to realize the visual function of battery cell calibration and placement, and by establishing a direct connection between the camera 74 and the coordinate system of the robot body 4, the visual system of the camera 74 can be quickly and accurately linked with the handling and positioning operation of the robot body 4, so as to realize the photovoltaic string welding machine to place the battery cells with high efficiency and high precision.

[0033] like Figure 1-Figure 6As shown, the working principle of a solar cell calibration device is as follows:

[0034] 1. First, use the camera 74 to take a picture of the calibration plate 66, adjust the camera adjustment plate 73, the camera mounting plate 72 and the lens 75, so that the calibration plate 66 appears completely in the field of view of the camera 74 and is centered as much as possible; repeat the above adjustment operation again, so that the opposite sides of the calibration plate 66 in the image are equal, and the center of the camera 74 coincides with the center of the calibration plate 66; assuming that the long side of the upper surface of the calibration plate 66 is the X-axis and the short side is the Y-axis, then the central axis of the camera 74 is perpendicular to the platform formed by the XY, and the central axis of the camera 74 is recorded as the Z-axis;

[0035] 2. Since the four sides of the calibration plate 66 are engraved with high-precision triangles 9, the vertices of the opposite triangles 9 are connected respectively, and the intersection of the two straight lines is recorded as point O. The straight line passing through point O and being parallel to the X axis is recorded as the X axis. Similarly, the straight line passing through point O and being parallel to the Y axis is recorded as the Y axis. The XOY plane coordinate system is recorded as the coordinate system of the camera 74.

[0036] 3. Manually control the robot body 4, and use the two positioning pins 57 to approach the two vertical surfaces of the calibration plate 66 respectively; stop moving when the two positioning pins 57 are about to touch the vertical surface of the calibration plate 66, and then use a feeler gauge to measure the gap between the two positioning pins 57 and the vertical surface of the calibration plate 66 from top to bottom in the vertical direction. Under normal circumstances, the gap from top to bottom will gradually increase or decrease. At this time, adjust the horizontal position of the robot base 1 until the same vertical surface, and the gap between the two positioning pins 57 and the calibration plate 66 is equal from top to bottom. At this time, the vertical axis of the robot body 4 is parallel to the central axis of the camera 74;

[0037] 4. Continue to control the robot body 4, adjust the robot connecting plate 53 to be parallel to the XY axis of the robot body 4, use two positioning pins 57 to approach one of the vertical surfaces of the calibration plate 66 at the same time, and stop moving when it is about to touch the vertical surface of the calibration plate 66. At this time, use a feeler gauge to measure the gap between the two positioning pins 57 and the vertical surface, and calculate the difference Δ between the two gap sizes. Knowing the distance between the two positioning pins 57, the angle difference between the coordinate axis of the robot body 4 and the coordinate axis of the camera 74 can be calculated. According to the calculation result, the coordinate axis of the robot body 4 can be adjusted to be parallel to the coordinate axis XY of the camera 74;

[0038] 5. Finally, replace one of the positioning pins 57 away from the robot body 4 as a grasping fixture, and then move the robot body 4 to the top of the calibration plate 66. Use the positioning pin 57 directly below the robot body 4 to align with the positioning hole 67 at the center of the calibration plate 66. Manually fine-tune the robot body 4 to move slowly in the horizontal direction, and then adjust the positioning pin 57 to slowly approach the calibration plate 66 from top to bottom. If a collision occurs, the positioning pin 57 will slide up relative to the linear bearing 54 and float. If the positioning pin 57 floats, it is necessary to raise the height of the robot body 4 again and adjust the robot body 4. The coordinate axis of the robot body 4 is measured, and the positioning pin 57 is used to approach the positioning hole 67 on the calibration plate 66. If the positioning pin 57 is inserted into the positioning hole 67 on the calibration plate 66 without floating, the position of the robot body 4 at this time is recorded. At this time, the vertical axis of the robot body 4 is also the central axis of the camera 74. The direct relationship between the robot body 4 and the camera 74 in the same coordinate system is established, so that the visual system of the camera 74 can be quickly and accurately linked with the handling and positioning operation of the robot body 4, so as to realize the high-efficiency and high-precision placement operation of the photovoltaic string welding machine on the battery cells.

Claims

1. A solar cell calibration device, characterized in that: include: A robot base (1), a fixing base (2) and a supporting frame (3), wherein a robot body (4) is mounted on the robot base (1); A positioning fixture assembly (5), the positioning fixture assembly (5) comprising a lifting screw (51), an adjusting adapter block (52), a robot connecting plate (53), two linear bearings (54), two supporting washers (55), two fixing screws (56) and two positioning pins (57), the lifting screw (51) being threadedly connected to the robot body (4), the adjusting adapter block (52) being arranged at the lower end of the lifting screw (51), the robot connecting plate (53) being fixedly connected to the bottom of the adjusting adapter block (52), the two linear bearings (54) being fixedly connected to the robot connecting plate (53) via two supporting washers (55) and two fixing screws (56), and the two positioning pins (57) being slidably connected to the inside of the two linear bearings (54) respectively; The fixing seat (2) is provided with a fixing component (6), and the supporting frame (3) is provided with a visual adjustment component (7).

2. A solar cell calibration device according to claim 1, characterized in that: The fixing assembly (6) comprises two conveying rollers (61), a conveying belt (62), a servo motor (63), two synchronous wheels (64), a synchronous belt (65), a calibration plate (66), two positioning holes (67), a backlight device (68) and a preliminary calibration device (69). The two conveying rollers (61) are rotatably connected to the fixing seat (2). The two conveying rollers (61) are transmission-connected via the conveying belt (62). The servo motor (63) is fixedly connected to the fixing seat (2). The two synchronous wheels (64) are respectively fixedly connected to the end of one of the conveying rollers (61) and the output end of the servo motor (63). The two synchronous wheels (64) are transmission-connected via the synchronous belt (65). The calibration plate (66) is arranged on the conveying belt (62). The two positioning holes (67) are opened on the calibration plate (66). The backlight device (68) is installed on the fixing seat (2). The preliminary calibration device (69) is installed on the supporting frame (3).

3. A solar cell calibration device according to claim 2, characterized in that: The visual adjustment component (7) comprises a camera fixing bracket (71), a camera mounting plate (72), a camera adjustment plate (73), a camera (74), a lens (75), a light source mounting plate (76), an L-shaped bracket (77) and an annular light source (78), wherein the camera fixing bracket (71) is fixedly connected to the support frame (3), the camera mounting plate (72) is fixedly connected to the camera fixing bracket (71) by means of an adjustment bolt, the camera adjustment plate (73) is fixedly connected to the camera mounting plate (72) by means of an adjustment bolt, the camera (74) is mounted on the camera adjustment plate (73), the lens (75) is arranged on the camera (74), the light source mounting plate (76) is fixedly connected to the camera fixing bracket (71) by means of an L-shaped bracket (77) and an adjustment bolt, and the annular light source (78) is mounted on the bottom of the light source mounting plate (76).

4. A solar cell calibration device according to claim 3, characterized in that: The robot connecting plate (53) is provided with two through slots, and the two linear bearings (54) are respectively located in the two through slots.

5. A solar cell calibration device according to claim 4, characterized in that: The robot base (1) is provided with a movable hole (8), and the fixing seat (2) passes through the robot base (1) through the movable hole (8).

6. A solar cell calibration device according to claim 5, characterized in that: The edges of the four sides of the calibration plate (66) are all engraved with triangles (9) of equal size, and each triangle (9) is located at the center of the side of the calibration plate (66).

7. A solar cell calibration device according to claim 6, characterized in that: The bottom sides of the two positioning pins (57) are both arranged in a certain arc structure, and the diameter of the positioning pins (57) is smaller than the positioning holes (67) on the calibration plate (66).

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