CN105108366A - Automatic battery string bus bar welding machine - Google Patents
Automatic battery string bus bar welding machine Download PDFInfo
- Publication number
- CN105108366A CN105108366A CN201510599649.4A CN201510599649A CN105108366A CN 105108366 A CN105108366 A CN 105108366A CN 201510599649 A CN201510599649 A CN 201510599649A CN 105108366 A CN105108366 A CN 105108366A
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- Prior art keywords
- busbar
- welding machine
- buss
- battery strings
- machine according
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Wire Processing (AREA)
Abstract
The invention belongs to the technical field of automatic solar battery pack production devices, and particularly relates to an automatic battery string bus bar welding machine. The automatic battery string bus bar welding machine is compact in structure, capable of saving occupied space and high in automation degree. The automatic battery string bus bar welding machine comprises a welding platform transmission line, and is characterized in that an L-shaped bus bar welding module is arranged on one side of the welding platform transmission line, and a linear bus bar welding module is arranged on the other side of the welding platform transmission line.
Description
Technical field
The invention belongs to solar module automated production equipment technical field, be specifically related to a kind of battery strings busbar automatic welding machine.
Background technology
Since solar module comes out, the welding of battery strings busbar depends on manual operations always and completes.Because manual operation exists the difference of the collimation error and welding quality thereof, cause busbar welding quality unstable.
Due to human weld's battery strings busbar, to there is production efficiency low; Unstable product quality; The drawbacks such as production line first-pass yield is low, make solar module packaging technology encounter bottleneck.Technique is in research and tackling key problem always for a long time.
In addition, realize production capacity to mate with production line, its welding busbar station is mostly taked to set up station and is added the way of personnel to ensure production capacity.But labor cost and day rise, employing of a large amount of either manual operator will run counter to low cost, high efficiency, high-quality production principle.
Summary of the invention
The present invention is exactly for the problems referred to above, provides a kind of compact conformation, saves equipment occupation space, the battery strings busbar automatic welding machine that automaticity is high.
In order to realize above-mentioned purpose of the present invention, the present invention adopts following technical scheme, the present invention includes jig transmission line, it is characterized in that: the side of jig transmission line is provided with L-type busbar welding module, the opposite side of jig transmission line is provided with yi word pattern busbar welding module.
As a preferred embodiment of the present invention, described L-type busbar welding module comprises the two busbar processing mechanisms be oppositely arranged; Be provided with buss-bar set mounting mechanism between two busbar processing mechanisms, buss-bar set mounting mechanism be provided with busbar pallet, busbar pallet is provided with the transmission manipulator corresponding with described jig transmission line and welding of battery film mechanism.
As another kind of preferred version of the present invention, described yi word pattern busbar welding module comprises busbar processing mechanism, busbar processing mechanism end is provided with busbar pallet, busbar pallet is provided with the transmission manipulator corresponding with jig transmission line and welding of battery film mechanism.
As the third preferred version of the present invention, the side of described L-type busbar welding module and yi word pattern busbar welding module is provided with lead-in wire and prunes mechanism.
Beneficial effect of the present invention: 1, the busbar of L-type and yi word pattern busbar to be positioned over the both sides of solar battery sheet by the present invention respectively by L-type busbar welding module and yi word pattern busbar welding module, achieve automated production processing, compared with human weld's busbar, increase substantially production efficiency and machining accuracy; Save human cost, product quality can be guaranteed.
2, the present invention utilizes three groups of identical busbar processing mechanisms to process busbar, reduce produce, installation and maintenance cost.
3, the present invention is integrated with lead-in wire pruning mechanism in the side of L-type busbar welding module and yi word pattern busbar welding module, and the excess lead on Electromagnetically solar energy assembly can be cut off, practical function is many, and floor space is little.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the exploded view of Fig. 1.
Fig. 3 is the structural representation of buss-bar set mounting mechanism.
Fig. 4 is the structural representation of carrier bar transmission mechanism.
Fig. 5 is the partial enlarged drawing of Fig. 4.
Fig. 6 is the structural representation of busbar straightening, cutting mechanism.
Fig. 7 is the structural representation of plumb joint and brass wire brush.
Fig. 8 is the structural representation of the welding of battery film mechanism on yi word pattern busbar welding module.
Fig. 9 is the partial enlarged drawing of Fig. 8.
Figure 10 is the structural representation of the welding of battery film mechanism on L-type busbar welding module.
Figure 11 is the partial enlarged drawing of Figure 10.
Figure 12 is the structural representation that mechanism pruned by lead-in wire.
In accompanying drawing, 1 is jig transmission line, 2 is L-type busbar welding module, 3 is yi word pattern busbar welding module, 4 is lead-in wire pruning mechanism, 5 is busbar pallet, 6 is weld cylinder, 7 is buss-bar set mounting mechanism, 8 is busbar processing mechanism, 9 is round brush group, 10 for cutting off air cylinder group, 11 is cutting off tool group, 12 is movable stand, 13 is blowing wheels, 14 is charging tray, 15 is busbar process frame, 16 is busbar straightening, cutting mechanism, 17 is lower air cylinder, 18 is aligning frame, 19 is busbar cutoff tool, 20 is polyurethane roller, 21 is adjustment roller, 22 is busbar guide rail, 23 is active stainless steel rotary wheel, 24 is long limit sucker, 25 is rotating mechanism, 26 is minor face sucker, 27 is buss-bar set installation frame, 28 is carrier bar transmission mechanism, 29 is transmission carrier bar, 30 is busbar locating slot, 31 is location wedge, 32 is location wedge-shaped slot, 33 is positioning cylinder, 34 is plumb joint, 35 is heat insulation two-layer pad material locating piece, 36 is linear bearing, 37 is weld holder, 38 is brass wire brush, 39 is positive stop, 40 is soldering tip group.
Detailed description of the invention
The present invention includes jig transmission line 1, it is characterized in that: the side of jig transmission line 1 is provided with L-type busbar welding module 2, the opposite side of jig transmission line 1 is provided with yi word pattern busbar welding module 3.
As a preferred embodiment of the present invention, described L-type busbar welding module 2 comprises the two busbar processing mechanisms 8 be oppositely arranged; Be provided with buss-bar set mounting mechanism 7 between two busbar processing mechanisms 8, buss-bar set mounting mechanism 7 be provided with busbar pallet 5, busbar pallet 5 is provided with the transmission manipulator corresponding with described jig transmission line 1 and soldering tip group 40.
As another kind of preferred version of the present invention, described yi word pattern busbar welding module 3 comprises busbar processing mechanism 8, busbar processing mechanism 8 end is provided with busbar pallet 5, busbar pallet 5 is provided with the transmission manipulator corresponding with jig transmission line 1 and soldering tip group 40.
Described soldering tip group 40 is arranged on described busbar pallet 5 by telescopic cylinder, and busbar pallet 5 is provided with round brush group 9 corresponding to soldering tip group 40.Soldering tip group 40, after one end time uses, is cleared up by round brush group 9.
As the third preferred version of the present invention, the side of described L-type busbar welding module 2 and yi word pattern busbar welding module 3 is provided with lead-in wire and prunes mechanism 4.
Described lead-in wire is pruned mechanism 4 and is comprised movable stand 12, and the end of movable stand 12 is provided with and cuts off air cylinder group 10, cuts off in air cylinder group 10 and is provided with cut-out prop set 11.
Busbar processing mechanism 8 comprises busbar process frame 15, busbar process frame 15 is provided with charging tray 14, charging tray 14 is provided with blowing wheels 13; Busbar process frame 15 is provided with busbar straightening, cutting mechanism 16 corresponding to the end of blowing wheels 13.
Described busbar straightening, cutting mechanism 16 comprises aligning frame 18, aligning frame 18 is provided with initiatively stainless steel rotary wheel 23, above aligning frame 18, the lower air cylinder 17 of aligning is provided with polyurethane roller 20; Polyurethane roller 20 and described active stainless steel rotary wheel 23 corresponding; Both sides corresponding to polyurethane roller 20 and active stainless steel rotary wheel 23 are provided with busbar guide rail 22; Described busbar guide rail 22 end is provided with busbar cutoff tool 19.
The side of described polyurethane roller 20 and initiatively stainless steel rotary wheel 23 is also provided with adjustment roller 21.By adjustment roller 21, can finely tune for the busbar of different-thickness.
Described buss-bar set mounting mechanism 7 comprises carrier bar transmission mechanism 28, buss-bar set installation frame 27 is provided with above carrier bar transmission mechanism 28, buss-bar set installation frame 27 is respectively arranged with long limit sucker 24 and minor face sucker 26 corresponding to two busbar processing mechanisms 8, and described minor face sucker 26 and buss-bar set are installed between frame 27 and are provided with rotating mechanism 25; Described buss-bar set installation frame 27 is provided with the weld cylinder 6 of energy transverse shifting corresponding to the top of carrier bar transmission mechanism 28, below weld cylinder 6, is provided with plumb joint 34.
Described carrier bar transmission mechanism 28 comprises transmission carrier bar 29, is provided with busbar locating slot 30 between transmission carrier bar 29, and described transmission carrier bar 29 side is provided with location wedge-shaped slot 32; Location wedge-shaped slot 32 is provided with positioning cylinder 33, positioning cylinder 33 is provided with and the location wedge 31 of locating wedge-shaped slot 32 and coordinating.
Side corresponding to plumb joint 34 on described buss-bar set installation frame 27 is provided with brass wire brush 38; Above described brass wire brush 38, weld cylinder 6 is provided with positive stop 39.
Described plumb joint 34 is connected with weld cylinder 6 by weld holder 37; The linear bearing 36 of band spring mechanism is provided with between weld holder 37 and weld cylinder 6.After plumb joint 34 uses a period of time, dirt can be adhered in surface; By weld cylinder 6, drive plumb joint 34 to move to above brass wire brush 38, clear up by brass wire brush 38 butt joint 34.
The both sides of described plumb joint 34 can arrange heat insulation double-deck wadding locating piece 35.
When the present invention uses, as shown in Figure 1, the solar battery sheet machined by a upper station enters into lead-in wire by jig transmission line 1 and prunes mechanism 4, movable stand 12 moves and cut-out prop set 11 is moved to solar battery sheet side, cut off air cylinder group 10 to move, cut off prop set and the lead-in wire on solar battery sheet is cut off.
The solar battery sheet cut off after lead-in wire moves on and comes L-type busbar welding module 2 and yi word pattern busbar welding module 3 place, L-type busbar welding module 2 runs, two busbar processing mechanisms 8 operate simultaneously, charging tray 14 and blowing wheels 13 cooperatively interact busbar is introduced busbar straightening, cutting mechanism 16 busbar guide rail 22 in; Under busbar is advanced through not the interaction of initiatively stainless steel rotary wheel 23 and polyurethane roller 20, busbar is aligned.The busbar of busbar after aligning through rear is led and is cut off by busbar cutoff tool 19.
The busbar cut off drawn respectively by the long limit sucker 24 of buss-bar set mounting mechanism 7 and minor face sucker 26 from two busbar processing mechanisms 8; After minor face sucker 26 half-twist, coordinate with long limit sucker 24 and busbar put as L-type and is positioned in the busbar locating slot 30 on carrier bar transmission mechanism 28.Carrier bar transmission mechanism 28 runs and makes busbar corresponding with plumb joint 34; Weld cylinder 6 drives plumb joint 34, and two busbars are welded as L-type.
After L-type busbar welds, busbar captures and is positioned on solar battery sheet by transmission manipulator; Soldering tip group 40 moves, and corresponding with L-type busbar, is welded on solar battery sheet by L-type busbar.
Yi word pattern busbar welding module 3 by busbar processing mechanism 8 by busbar cut off and be also welded on solar battery sheet by transmission manipulator and soldering tip group 40.
Finally, solar battery sheet is delivered on glass plate by jig transmission line 1.
Be understandable that, above about specific descriptions of the present invention, the technical scheme described by the embodiment of the present invention is only not limited to for illustration of the present invention, those of ordinary skill in the art is to be understood that, still can modify to the present invention or equivalent replacement, to reach identical technique effect; Needs are used, all within protection scope of the present invention as long as meet.
Claims (10)
1. battery strings busbar automatic welding machine, comprise jig transmission line (1), it is characterized in that: the side of jig transmission line (1) is provided with L-type busbar welding module (2), the opposite side of jig transmission line (1) is provided with yi word pattern busbar welding module (3).
2. battery strings busbar automatic welding machine according to claim 1, is characterized in that: described L-type busbar welding module (2) comprises the two busbar processing mechanisms (8) be oppositely arranged; Buss-bar set mounting mechanism (7) is provided with between two busbar processing mechanisms (8), buss-bar set mounting mechanism (7) is provided with busbar pallet (5), busbar pallet (5) is provided with the transmission manipulator corresponding with described jig transmission line (1) and soldering tip group (40).
3. battery strings busbar automatic welding machine according to claim 1, it is characterized in that: described yi word pattern busbar welding module (3) comprises busbar processing mechanism (8), busbar processing mechanism (8) end is provided with busbar pallet (5), busbar pallet (5) is provided with the transmission manipulator corresponding with jig transmission line (1) and soldering tip group (40).
4. battery strings busbar automatic welding machine according to claim 3, it is characterized in that: described soldering tip group (40) is arranged on described busbar pallet (5) by telescopic cylinder, and busbar pallet (5) is provided with round brush group (9) corresponding to soldering tip group (40).
5. battery strings busbar automatic welding machine according to claim 1, is characterized in that: the side of described L-type busbar welding module (2) and yi word pattern busbar welding module (3) is provided with lead-in wire and prunes mechanism (4).
6. battery strings busbar automatic welding machine according to claim 5, it is characterized in that: described lead-in wire is pruned mechanism (4) and comprised movable stand (12), the end of movable stand (12) is provided with and cuts off air cylinder group (10), cuts off in air cylinder group (10) and is provided with cut-out prop set (11).
7. battery strings busbar automatic welding machine according to claim 1, it is characterized in that: busbar processing mechanism (8) comprises busbar process frame (15), busbar process frame (15) is provided with charging tray (14), charging tray (14) is provided with blowing wheels (13); Busbar process frame (15) is provided with busbar straightening, cutting mechanism (16) corresponding to the end of blowing wheels (13).
8. battery strings busbar automatic welding machine according to claim 7, it is characterized in that: described busbar straightening, cutting mechanism (16) comprises aligning frame (18), aligning frame (18) is provided with initiatively stainless steel rotary wheel (23), aligning frame (18) top is provided with polyurethane roller (20) by the lower air cylinder (17) of aligning; Polyurethane roller (20) and described active stainless steel rotary wheel (23) corresponding; Both sides corresponding to polyurethane roller (20) and active stainless steel rotary wheel (23) are provided with busbar guide rail (22); Described busbar guide rail (22) end is provided with busbar cutoff tool (19).
9. battery strings busbar automatic welding machine according to claim 8, is characterized in that: the side of described polyurethane roller (20) and initiatively stainless steel rotary wheel (23) is also provided with adjustment roller (21).
10. battery strings busbar automatic welding machine according to claim 2, it is characterized in that: described buss-bar set mounting mechanism (7) comprises carrier bar transmission mechanism (28), carrier bar transmission mechanism (28) top is provided with buss-bar set installation frame (27), buss-bar set installation frame (27) is respectively arranged with long limit sucker (24) and minor face sucker (26) corresponding to two busbar processing mechanisms (8), and described minor face sucker (26) and buss-bar set are installed between frame (27) and are provided with rotating mechanism (25); Described buss-bar set installation frame (27) is provided with the weld cylinder (6) of energy transverse shifting corresponding to the top of carrier bar transmission mechanism (28), weld cylinder (6) below is provided with plumb joint (34); Preferably, described carrier bar transmission mechanism (28) comprises transmission carrier bar (29), is provided with busbar locating slot (30) between transmission carrier bar (29), and described transmission carrier bar (29) side is provided with location wedge-shaped slot (32); Location wedge-shaped slot (32) is provided with positioning cylinder (33), positioning cylinder (33) is provided with and the location wedge (31) of locating wedge-shaped slot (32) and coordinating; Preferably, the side corresponding to plumb joint (34) on described buss-bar set installation frame (27) is provided with brass wire brush (38); Described brass wire brush (38) top is provided with positive stop (39) corresponding to weld cylinder (6); Preferably, described plumb joint (34) is connected with weld cylinder (6) by weld holder (37); The linear bearing (36) of band spring mechanism is provided with between weld holder (37) and weld cylinder (6); Preferably, the both sides of described plumb joint (34) can arrange heat insulation double-deck wadding locating piece (35).
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CN201510599649.4A CN105108366B (en) | 2015-09-21 | 2015-09-21 | Battery strings busbar automatic welding machine |
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Cited By (20)
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CN105598606A (en) * | 2016-02-19 | 2016-05-25 | 昆山盟特展精密机电有限公司 | Automatic bus bar welder |
CN105855658A (en) * | 2016-05-06 | 2016-08-17 | 河北羿珩科技股份有限公司 | Solar confluence strap automatic welding device |
CN105945466A (en) * | 2016-07-19 | 2016-09-21 | 河北羿珩科技股份有限公司 | Welding and feeding device for solar energy assembly bus bars |
CN106077868A (en) * | 2016-06-28 | 2016-11-09 | 江南大学 | Photovoltaic module busbar right angle welding equipment |
CN106112190A (en) * | 2016-07-21 | 2016-11-16 | 河北羿珩科技股份有限公司 | Solar energy convergent belt bonding machine modular system |
CN106670608A (en) * | 2017-02-08 | 2017-05-17 | 深圳市羿驰辉科技有限公司 | Convergence strip lap welding machine |
CN106825839A (en) * | 2017-03-22 | 2017-06-13 | 无锡先导智能装备股份有限公司 | The feeding machanism of busbar and method of feeding |
CN106981545A (en) * | 2017-04-20 | 2017-07-25 | 陈红 | A kind of solar battery sheet transport mechanism |
CN107363362A (en) * | 2017-06-05 | 2017-11-21 | 博硕皓泽自动化设备无锡有限公司 | Automatic busbar bonding machine |
CN107414234A (en) * | 2017-06-05 | 2017-12-01 | 博硕皓泽自动化设备无锡有限公司 | Online busbar automatic welding machine and busbar automatic soldering method |
CN107414348A (en) * | 2017-06-05 | 2017-12-01 | 博硕皓泽自动化设备无锡有限公司 | A kind of vision positioning control system |
CN107498130A (en) * | 2017-09-04 | 2017-12-22 | 苏州优敖智能科技有限公司 | Conflux welding bonding machine |
CN108067759A (en) * | 2016-11-16 | 2018-05-25 | 上海涛创自动化科技有限公司 | A kind of welded equipment of busbar automatic charging |
CN109079295A (en) * | 2018-08-28 | 2018-12-25 | 深圳光远智能装备股份有限公司 | One kind being used for solar energy imbrication line busbar welder |
CN109768122A (en) * | 2019-01-24 | 2019-05-17 | 苏州晟成光伏设备有限公司 | Lead-out wire bonding machine |
CN109773485A (en) * | 2019-03-19 | 2019-05-21 | 徐佳辉 | A kind of distribution perpendicular type busbar and preparation method and apparatus thereof |
CN109967903A (en) * | 2019-02-26 | 2019-07-05 | 苏州晟成光伏设备有限公司 | The double glass laminated welding machines of conventional half |
CN110335842A (en) * | 2019-07-15 | 2019-10-15 | 河北羿珩科技有限责任公司 | A kind of solar battery string busbar pulls transfer |
CN115064475A (en) * | 2022-08-04 | 2022-09-16 | 苏州卓樱自动化设备有限公司 | Conveying table for welding silicon wafer battery piece cathode |
CN117399835A (en) * | 2023-12-14 | 2024-01-16 | 苏州晟成智能装备有限公司 | Bus bar outgoing line combined pre-welding integrated machine and step-by-step welding method |
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CN105598606A (en) * | 2016-02-19 | 2016-05-25 | 昆山盟特展精密机电有限公司 | Automatic bus bar welder |
CN105855658A (en) * | 2016-05-06 | 2016-08-17 | 河北羿珩科技股份有限公司 | Solar confluence strap automatic welding device |
CN106077868A (en) * | 2016-06-28 | 2016-11-09 | 江南大学 | Photovoltaic module busbar right angle welding equipment |
CN105945466A (en) * | 2016-07-19 | 2016-09-21 | 河北羿珩科技股份有限公司 | Welding and feeding device for solar energy assembly bus bars |
CN106112190A (en) * | 2016-07-21 | 2016-11-16 | 河北羿珩科技股份有限公司 | Solar energy convergent belt bonding machine modular system |
CN108067759A (en) * | 2016-11-16 | 2018-05-25 | 上海涛创自动化科技有限公司 | A kind of welded equipment of busbar automatic charging |
CN106670608A (en) * | 2017-02-08 | 2017-05-17 | 深圳市羿驰辉科技有限公司 | Convergence strip lap welding machine |
CN106670608B (en) * | 2017-02-08 | 2020-04-03 | 深圳市羿驰辉科技有限公司 | Confluence strap lap welding machine |
CN106825839A (en) * | 2017-03-22 | 2017-06-13 | 无锡先导智能装备股份有限公司 | The feeding machanism of busbar and method of feeding |
WO2018171275A1 (en) * | 2017-03-22 | 2018-09-27 | 无锡先导智能装备股份有限公司 | Busbar feeding mechanism and feeding method, and stringer having busbar feeding mechanism |
CN106981545A (en) * | 2017-04-20 | 2017-07-25 | 陈红 | A kind of solar battery sheet transport mechanism |
CN107363362A (en) * | 2017-06-05 | 2017-11-21 | 博硕皓泽自动化设备无锡有限公司 | Automatic busbar bonding machine |
CN107414234A (en) * | 2017-06-05 | 2017-12-01 | 博硕皓泽自动化设备无锡有限公司 | Online busbar automatic welding machine and busbar automatic soldering method |
CN107414348A (en) * | 2017-06-05 | 2017-12-01 | 博硕皓泽自动化设备无锡有限公司 | A kind of vision positioning control system |
CN107414348B (en) * | 2017-06-05 | 2019-07-02 | 秦皇岛博硕光电设备股份有限公司 | A kind of vision positioning control system |
CN107363362B (en) * | 2017-06-05 | 2023-02-17 | 博硕皓泽自动化设备无锡有限公司 | Automatic bus bar welding machine |
CN107498130A (en) * | 2017-09-04 | 2017-12-22 | 苏州优敖智能科技有限公司 | Conflux welding bonding machine |
CN109079295A (en) * | 2018-08-28 | 2018-12-25 | 深圳光远智能装备股份有限公司 | One kind being used for solar energy imbrication line busbar welder |
CN109768122A (en) * | 2019-01-24 | 2019-05-17 | 苏州晟成光伏设备有限公司 | Lead-out wire bonding machine |
CN109768122B (en) * | 2019-01-24 | 2024-02-09 | 苏州晟成光伏设备有限公司 | Lead wire welding machine |
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CN109967903B (en) * | 2019-02-26 | 2024-06-07 | 苏州晟成光伏设备有限公司 | Conventional half-piece double-glass lamination welding machine |
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CN115064475B (en) * | 2022-08-04 | 2022-11-15 | 苏州卓樱自动化设备有限公司 | Conveying table for welding silicon wafer battery piece cathode |
CN117399835A (en) * | 2023-12-14 | 2024-01-16 | 苏州晟成智能装备有限公司 | Bus bar outgoing line combined pre-welding integrated machine and step-by-step welding method |
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