Research On Key Technology Of Loading Manipulator Of Laminating Machine Based On Visual Guidance

The traditional way of production feeding is generally manual feeding,but this feeding method can not meet the industrial requirements of rapid production.Nowadays,the technology of the combination of industrial manipulator and machine vision has opened a new direction for the process of industrial production loading.It can directly or indirectly replace the workers' work of picking,carrying and loading workpieces in the production line,so as to improve the efficiency of the feeding link and save a lot of labor costs.In this paper,the production line process of laminating machine is taken as the background.Firstly,the current situation of energy application is briefly introduced,and the trend of photovoltaic industry is clarified.The practical development of industrial robots and machine vision,key technologies and mainstream processing schemes in the feeding system are taken as the key content to explore and analyze.On this basis,the process layout design and key technologies of the feeding system of bsl1956oac-dtb laminator produced by a company were studied,which laid the foundation for the subsequent lamination of solar cell components in the inner cavity of laminator.According to the problems in the loading process of the full-automatic solar cell assembly production line and the shape characteristics of the solar cell module,the overall structure design of the loading manipulator and the design of the high-temperature cloth transmission system which is convenient for visual recognition are carried out,the degree of freedom,relevant parameters,transmission and driving scheme of the loading manipulator are determined,and a special machine for solar cell module is developed For the gripper,SolidWorks three-dimensional modeling is carried out for the body of the loading manipulator,and ANSYS analysis is carried out for the X and Z direction manipulator and the gripper to verify that the strength requirements are met.MATLAB is used for kinematic analysis and Workspace Analysis of the manipulator,which proves the feasibility and rationality of the structural design.Select a reasonable visual aid technology,summarize and study the image acquisition and image processing,propose a simplified algorithm of edge and corner detection,identify the strip edge of the fixture laid on the high-temperature cloth surface,obtain the position information and compare it with the standard position information,provide the position information for the robot,then adjust the robot's moving distance and realize the sun detection Standard placement of battery components.Connect the mechanical and visual system with the control system,determine the relevant control system,and generate,output and save the corresponding program.Design and install the experiment platform of the loading robot of the laminator,verify that the loading system can achieve the task of standard placement of solar cell components.Finally,through the continuous production experiment in the factory,verify the practicability,stability and repeatability of the system.