Design And Research Of Sorting Robot Based On Flexible CIGS Thin Film Solar Cell

Flexible CIGS thin film Solar cell sorting robot is a small solar cell sorting robot with flexible,long life,intelligent and other advantages,widely used in garbage sorting,express sorting and other fields need sorting.Traditional solar sorting robots mostly use monocrystalline silicon solar cells.Due to the characteristics of monocrystalline silicon solar cells,a large number of monocrystalline silicon solar cells need to be laid on the surface of the sorting robot.Due to the small size and complex structure of the sorting robot,it is not conducive to the laying of monocrystalline silicon solar cells.In this thesis,a small solar sorting robot is designed for flexible CIGS thin film solar cells with high deformation resistance,and the key structure of the solar sorting robot is optimized,which can further broaden the design idea and application scope of the solar sorting robot.The main research contents are as follows:1.The characteristics of flexible CIGS thin film solar cells were analyzed.CBD method was used to optimize the buffer layer ZnO_1-xS_x thin film of flexible CIGS thin film solar film cells.Meanwhile,the ratio x of S/（O+S） in the film is related to the optical band gap Eg,which satisfies the equation E_g（x）=3.3257x²-2.7187x+4.3576.The solar cells are cascaded internally using three laser lines and encapsulated in a modular ETFE membrane,which fits tightly into the surface of the solar power facility.2.URDF modeling of the solar sorting robot is carried out to analyze the movement principle of the solar sorting robot,and the spatial position of the solar sorting robot is described by using matrix changes.Finite element method,numerical approximation and interpolation method are used to obtain the motion azimuth solution of the solar sorting robot.Move It is used to simulate the solar sorting robot.Obstacles are set up in advance in Move It,and the movement trajectory of the solar sorting robot is planned to prevent collisions when the solar sorting robot moves3.Realize the automatic control function of the solar sorting robot.Control the six steering gear of the solar sorting robot to grasp the target object.Make the block in the complex environment can be very ideal to be recognized and the target object grab and place.