CN207207384U - A kind of vision calibration device of photovoltaic cell printing equipment - Google Patents
A kind of vision calibration device of photovoltaic cell printing equipment Download PDFInfo
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- CN207207384U CN207207384U CN201721149134.5U CN201721149134U CN207207384U CN 207207384 U CN207207384 U CN 207207384U CN 201721149134 U CN201721149134 U CN 201721149134U CN 207207384 U CN207207384 U CN 207207384U
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Abstract
The utility model discloses a kind of vision calibration device of photovoltaic cell printing equipment；The vision positioning device of the equipment is included into plate positioning camera, camera fixed mount, silk screen positioning camera, rotation positioning platform, Three Degree Of Freedom silk screen motion platform, silk screen, frame and bearing ink pad.This localization method realizes camera calibration by customizing optical glass scaling board, rotation positioning platform and Three Degree Of Freedom silk screen motion platform；Coordinate incidence relation into plate positioning camera, silk screen positioning camera and rotation positioning platform is established by the vision software algorithm inside control system；Three Degree Of Freedom silk screen motion platform offset is calculated by control system vision positioning algorithm, realizes the accurate fast positioning of Three Degree Of Freedom silk screen motion platform；With the features such as positioning precision height, stability is good.
Description
Technical field
It the utility model is related to computer vision precision positioning, more particularly to a kind of vision mark of photovoltaic cell printing equipment
Determine device.
Background technology
Crystal silicon solar-energy photovoltaic battery printing equipment is that one kind automatically realizes silk screen and stock essence based on machine vision
The print system of close alignment.Regarded to carry out high efficiency and high-precision crystal silicon solar batteries production line balance, appliance computer
The screen printing apparatus alignment system of feel can meet the requirement of crystal silicon solar batteries positioning precision and production efficiency very well.
For the desk-top crystal silicon solar-energy photovoltaic battery printing equipment of more printings, determine due to entering plate positioning camera with silk screen vision
Position camera is distributed in different locus, and polyphaser vision positioning system can not be stock positional information and web position
Information association is difficult critically to measure into plate positioning camera, silk screen positioning camera and three freely into same acquisition system
The relative position relation spent between silk screen motion platform.
The content of the invention
The shortcomings that the purpose of this utility model is to overcome above-mentioned prior art and deficiency, there is provided a kind of photovoltaic cell printing
The vision calibration device of equipment；Find the pose of crystal silicon solar batteries exactly based on image procossing, calculate motion excursion amount
Printing platform is fed back to, to meet the high-accuracy high-efficiency production requirement of crystal silicon solar batteries.
The utility model is achieved through the following technical solutions：
A kind of vision calibration device of photovoltaic cell printing equipment, including control system 16, frame 15, installed in frame 15
Three Degree Of Freedom silk screen motion platform 10, the rotation positioning platform 14 above frame 15 of side；The Three Degree Of Freedom silk
Silk screen 13 is installed on net motion platform 10, it is vertical and be symmetrically installed with silk screen positioning camera in the both sides of the lower section of silk screen 13
11、12；The side of the frame 15 is also equipped with one and is used to fix four camera fixed mounts 5 for entering plate positioning camera 1,2,3,4；
The outer rim equal distribution of the rotation positioning platform 14 has four bearing ink pads 6,7,8,9；
The riding position of the camera fixed mount 5 is adjustable；By the position for adjusting camera fixed mount 5 so that four are entered plate
Positioning camera 1,2,3,4 can correspond to the top for being placed in bearing ink pad 6,7,8,9 vertically and respectively.
The control system 16 includes central processing unit, and camera controller, the figure being connected respectively with central processing unit
As capture card, register control, image processor, man-machine interface, memory；
The camera controller and image pick-up card connect image collecting device respectively, i.e., silk screen positioning camera 11,12 with
And four entered plate positioning camera 1,2,3,4；
The register control control Three Degree Of Freedom silk screen motion platform 10 and rotation positioning platform 14 rotate, and make four
Individual bearing ink pad 6,7,8,9 moves to specified location.
Four bearing ink pads 6,7,8,9 are embedded with back light.
A kind of localization method of the vision calibration device of photovoltaic cell printing equipment, comprises the following steps：
Step 1, it is installed into plate positioning camera and silk screen positioning camera and corresponding camera parameter is set；
Step 2, selected optical calibrating plate is fixed on bearing ink pad, triggers and is taken pictures into plate positioning camera, obtained
Bearing ink pad camera calibration image；
Step 3, rotation positioning platform 14 is controlled to be rotated by 90 ° by register control, triggering silk screen positioning camera 11,12
Take pictures, obtain silk screen camera calibration image；
Step 4, establish four and enter plate positioning camera 1,2,3,4 and silk screen positioning camera 11,12 and rotation positioning platform
14 incidence relation；
Step 5, silk screen is installed, current web position and angle are obtained by silk screen positioning camera；
Step 6, stock are placed on bearing ink pad, and triggering back light and triggering are entered plate positioning camera and taken pictures accordingly；
Step 7, stock edge is found, determines stock current location, and calculate bearing ink pad offset；
Step 8, the rotation of control rotation positioning platform and control bearing ink pad 6 move to specified location, and it is dynamic to perform printing
Make.
The utility model is had the following advantages and effect relative to prior art：
(1) the utility model structure, method are simple, easy to use, using scaling board and rotation positioning platform calibration for cameras,
Obtain the benchmark incidence relation into plate positioning camera and silk screen positioning camera, avoid the scaling method of complex operation, have it is easy,
Practicality, fast and accurately advantage.
(2) the utility model carries out vision positioning using more mesh cameras, and positioning precision is high；Using back side polishing mode to holding
Print thing is positioned, and avoids stock from influenceing locating effect because of light diffusing reflection.
Brief description of the drawings
Fig. 1 is the flow chart of the utility model vision positioning method
Fig. 2 is the apparatus structure schematic diagram of the utility model vision positioning method；
Fig. 3 is the device top view of the utility model vision positioning method；
Fig. 4 is the device front view of the utility model vision positioning method；
Fig. 5 is the electrical block diagram of the utility model control system.
Embodiment
The utility model is more specifically described in detail with reference to specific embodiment.
Embodiment
The utility model discloses a kind of localization method of the vision calibration device of photovoltaic cell printing equipment, including it is as follows
Step：
Step 1, it is installed into plate positioning camera and silk screen positioning camera and corresponding camera parameter is set；It is specific as follows：
Four bearing ink pads 6,7,8,9 are fixed on rotation positioning platform 14, and rotational symmetry is distributed in rotational positioning and put down
On platform 14；Four are entered after plate positioning camera 1,2,3,4 is fixed on camera fixed mount 5, and camera fixed mount 5 is arranged on into frame 15 1
Side, and realize four regulations for entering plate positioning camera operating distance by adjusting the position of camera fixed mount 5；Silk screen is positioned
Camera 11,12 is fixed in frame 15, and being taken pictures by triggering silk screen positioning camera adjusts its focal length and aperture；
Step 2, selected optical calibrating plate is fixed on bearing ink pad, triggers and is taken pictures into plate positioning camera, obtained
Bearing ink pad camera calibration image；It is specific as follows：
Optical calibrating plate is to be fixed on by way of vacuum suction on bearing ink pad, is controlled by control system 16 and opens the back of the body
Area source, while triggering four is entered plate positioning camera and taken pictures, and numeral is converted into through image pick-up card after acquisition camera calibration image
Signal inputs central processing unit, obtains four pixel equivalents for entering plate positioning camera by image processor and respectively enters plate positioning
Parameter between camera；
Step 3, rotation positioning platform 14 is controlled to be rotated by 90 ° by register control, triggering silk screen positioning camera 11,12
Take pictures, obtain silk screen camera calibration image；It is specific as follows：
Control rotation positioning platform 14 to be rotated by 90 ° by register control, optical calibrating plate is moved to Three Degree Of Freedom silk
Net motion platform 10 and the lower section of silk screen 13, while it is in silk screen positioning camera 11,12 within sweep of the eye；Control system 16 passes through
Camera controller control silk screen positioning camera 11,12 is taken pictures, and image is transmitted to central processing unit by image pick-up card；
Step 4, establish four and enter plate positioning camera 1,2,3,4 and silk screen positioning camera 11,12 and rotation positioning platform
14 incidence relation；It is specific as follows：
By central processing unit calculate silk screen positioning camera pixel equivalent and each silk screen positioning camera between association
Parameter；Demarcated due to entering plate positioning camera with silk screen positioning camera using same customization scaling board, calculate and respectively enter plate
The relevant parameter of positioning camera, silk screen positioning camera and rotation positioning platform；
Step 5, silk screen is installed, current web position and angle are obtained by silk screen positioning camera；It is specific as follows：
Silk screen 13 is arranged on above Three Degree Of Freedom silk screen motion platform 10, there is two mark points on the bottom surface of silk screen 13；Control
System 16 triggers silk screen camera by camera controller and taken pictures, and image transports to central processing unit, control system by image pick-up card
By image processor, by current screen-label point, Coordinate Conversion to the bearing ink pad under silk screen positioning camera coordinate system positions system 16
In camera coordinates system, the silk screen reference position under bearing ink pad positioning camera coordinate system is obtained；
Step 6, stock are placed on bearing ink pad, and triggering back light and triggering are entered plate positioning camera and taken pictures accordingly；
It is specific as follows：
It is placed in by stock on bearing ink pad, control system 16 triggers back light by camera controller and triggering is respectively entered
Plate positioning camera is taken pictures, and image is transmitted into central processing unit by image pick-up card；
Step 7, stock edge is found, determines stock current location, and calculate bearing ink pad offset；It is specific as follows：
Central processing unit calculates position and the angle of current stock by internal vision processing module, with silk screen benchmark
Three Degree Of Freedom silk screen motion platform 10 is calculated after being compared and moves required moving displacement and rotational angle；
Step 8, the rotation of control rotation positioning platform and control bearing ink pad 6 move to specified location, and it is dynamic to perform printing
Make；It is specific as follows：
Control system 16 is rotated by 90 ° rotation positioning platform 14 by register control, while is calculated according to step 7
The moving displacement and angle of the Three Degree Of Freedom silk screen motion platform 10 arrived, control Three Degree Of Freedom silk screen motion platform 10 move to finger
Positioning is put, and performs printing action.
In the utility model scaling method, enter plate positioning camera, silk screen positioning camera benchmark and three-degree-of-freedom motion and put down
The benchmark of platform, including X, Y location benchmark and angle reference.
As described above, it can preferably realize the utility model.
Embodiment of the present utility model is simultaneously not restricted to the described embodiments, and other are any without departing from of the present utility model
Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in
Within the scope of protection of the utility model.
Claims (3)
1. a kind of vision calibration device of photovoltaic cell printing equipment, including control system (16), frame (15), installed in frame
(15) the Three Degree Of Freedom silk screen motion platform (10) of side, the rotation positioning platform (14) above frame (15)；It is described
Silk screen (13) is installed on Three Degree Of Freedom silk screen motion platform (10), in the both sides of the lower section of silk screen (13), vertical and symmetrical peace
Equipped with silk screen positioning camera (11,12)；It is characterized in that：The side of the frame (15) is also equipped with one and entered for fixing four
The camera fixed mount (5) of plate positioning camera (1,2,3,4)；The outer rim equal distribution of the rotation positioning platform (14) has four to hold
Ink pad (6,7,8,9)；
The riding position of the camera fixed mount (5) is adjustable；By the position for adjusting camera fixed mount (5) so that four are entered plate
Positioning camera (1,2,3,4) can correspond to the top for being placed in bearing ink pad (6,7,8,9) vertically and respectively.
2. the vision calibration device of photovoltaic cell printing equipment according to claim 1, it is characterised in that：The control system
(16) include central processing unit, and be connected respectively with central processing unit camera controller, image pick-up card, location control
Device, image processor, man-machine interface, memory；
The camera controller and image pick-up card connect image collecting device respectively, i.e., silk screen positioning camera (11,12) and
Four are entered plate positioning camera (1,2,3,4)；
The register control control Three Degree Of Freedom silk screen motion platform (10) and rotation positioning platform (14) rotation, and make four
Individual bearing ink pad (6,7,8,9) moves to specified location.
3. the vision calibration device of photovoltaic cell printing equipment according to claim 2, it is characterised in that：Four printings
Platform (6,7,8,9) is embedded with back light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721149134.5U CN207207384U (en) | 2017-09-08 | 2017-09-08 | A kind of vision calibration device of photovoltaic cell printing equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721149134.5U CN207207384U (en) | 2017-09-08 | 2017-09-08 | A kind of vision calibration device of photovoltaic cell printing equipment |
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| CN207207384U true CN207207384U (en) | 2018-04-10 |
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| CN201721149134.5U Expired - Fee Related CN207207384U (en) | 2017-09-08 | 2017-09-08 | A kind of vision calibration device of photovoltaic cell printing equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554050A (en) * | 2017-09-08 | 2018-01-09 | 华南理工大学 | The vision calibration device and its localization method of a kind of photovoltaic cell printing equipment |
| CN109263252A (en) * | 2018-10-11 | 2019-01-25 | 华南理工大学 | A kind of draping adaptive printing method and device of crystal silicon photovoltaic solar battery |
| CN111391484A (en) * | 2019-01-03 | 2020-07-10 | 先进装配***新加坡有限公司 | Alignment of singulated workpieces |
-
2017
- 2017-09-08 CN CN201721149134.5U patent/CN207207384U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554050A (en) * | 2017-09-08 | 2018-01-09 | 华南理工大学 | The vision calibration device and its localization method of a kind of photovoltaic cell printing equipment |
| CN109263252A (en) * | 2018-10-11 | 2019-01-25 | 华南理工大学 | A kind of draping adaptive printing method and device of crystal silicon photovoltaic solar battery |
| CN109263252B (en) * | 2018-10-11 | 2024-03-26 | 广东科隆威智能装备股份有限公司 | Screen-changing self-adaptive printing method and device for crystalline silicon photovoltaic solar cell |
| CN111391484A (en) * | 2019-01-03 | 2020-07-10 | 先进装配***新加坡有限公司 | Alignment of singulated workpieces |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180410 Termination date: 20190908 |