Photovoltaic module lead-out line pad automatic taking and placing device and automatic taking and placing method

Abstract

The present application relates to a kind of photovoltaic module lead-out line cushion block automatic pick-and-place device and automatic pick-and-place method, belong to photovoltaic module processing production technical field, solve the current manual placement cushion block mode with the problem of consuming manpower and low production efficiency.The photovoltaic module lead-out line cushion block automatic pick-and-place device of the present application is positioned by the organization to photovoltaic module, image positioning system carries out image acquisition positioning, material pick-and-place mechanism carries out automatic material taking and material placing, and displacement mechanism carries out servo control compensation transportation, completes the automatic material taking and material placing process of lead-out line cushion block, finally realizes replacing manual, and guarantees material placing precision.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic module manufacturing and processing technology, and in particular to an automatic pick-and-place device and method for photovoltaic module lead wire pads. Background Technology

[0002] In the automated production process of solar cell module encapsulation, when the photovoltaic module comes into contact with the pad, a lead wire pad needs to be placed on top of the photovoltaic module. When placing the lead wire pad, there needs to be a certain degree of alignment between the photovoltaic module and the lead wire pad.

[0003] Currently, the lead pads for solar modules are placed manually.

[0004] To reduce the number of manual laborers, decrease the workload of operators, and prevent workers from working in a fatigued state, which could lead to inaccurate placement of the lead wire pads and thus affect product quality, an automated lead wire pad picking and placing device needs to be designed. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide an automatic pick-and-place device and method for photovoltaic module lead wire pads, in order to solve the problem that the existing lead wire pads are placed manually, which is labor-intensive and inefficient.

[0006] The objective of this invention is mainly achieved through the following technical solutions:

[0007] An automatic pick-and-place device for photovoltaic module lead wire pads includes: a module straightening mechanism, a displacement mechanism, a material pick-and-place mechanism, and an image positioning system;

[0008] The module alignment mechanism can align and position photovoltaic modules;

[0009] The image positioning system can take pictures and determine the location of the folded photovoltaic modules;

[0010] The material handling mechanism can handle the lead wire gaskets.

[0011] The displacement mechanism is used to drive the material handling mechanism to perform three-degree-of-freedom linear displacement.

[0012] Furthermore, the displacement mechanism includes: an X-axis displacement mechanism, a Z-axis displacement mechanism, and a Y-axis displacement mechanism; the X-axis displacement mechanism and the Y-axis displacement mechanism are used to output linear displacement in the horizontal direction, and the movement directions of the X-axis displacement mechanism and the Y-axis displacement mechanism are perpendicular to each other; the Z-axis displacement mechanism is used to output linear displacement in the vertical direction.

[0013] Furthermore, the material handling mechanism includes a suction cup, which picks up and places the lead wire pad.

[0014] Furthermore, the material handling mechanism also includes a rotating column and a suction cup bracket; one end of the rotating column is connected to the output shaft of the motor, and the other end is fixedly connected to the suction cup bracket.

[0015] Furthermore, the suction cups are evenly distributed circumferentially around the axis of rotation of the rotating column.

[0016] Furthermore, it also includes a support frame, which is erected above the production line used to transport photovoltaic modules; the support frame is equipped with a horizontal guide rail, and the X-axis displacement mechanism can move linearly along the horizontal guide rail.

[0017] Furthermore, a material storage area is provided on one side of the support frame; a component consolidation mechanism is provided on the other side of the support frame.

[0018] Furthermore, the module alignment mechanism is a displacement alignment mechanism; the displacement alignment mechanism includes: a base plate, a linear displacement device, and an alignment column; the linear displacement device can drive the alignment column to move linearly, and when the alignment column moves, it can push the photovoltaic module to slide on the base plate.

[0019] Alternatively, the module alignment mechanism can be a transmission alignment mechanism; the transmission alignment mechanism includes: a base plate, side walls, and rollers; rollers are nested on the base plate; the rollers can drive the photovoltaic modules to slide relative to the base plate.

[0020] An automatic method for picking up and placing photovoltaic module lead wire pads, using an automatic photovoltaic module lead wire pad picking and placing device, includes the following steps:

[0021] Step S1: The assembly line transports the photovoltaic modules to the module sorting mechanism; and the module sorting mechanism performs sorting and positioning.

[0022] Step S2: The image positioning system takes pictures of the photovoltaic modules on the module alignment mechanism and compares the actual position of the photovoltaic modules with the preset position;

[0023] The deviation between the actual position and the preset position is calculated, and the deviation is the position compensation value;

[0024] Step S3: The material handling mechanism uses a suction cup to pick up the lead wire pad on the material storage area;

[0025] After the suction cup picks up the lead wire pad, the displacement mechanism adjusts the position according to the position compensation value and transports the lead wire pad to the top of the photovoltaic module.

[0026] Release the suction cup and place the lead wire pad on the photovoltaic module.

[0027] The technical solution of this invention can achieve at least one of the following effects:

[0028] 1. The photovoltaic module lead wire pad automatic picking and placing device of the present invention completes the automatic picking and placing process of lead wire pads by aligning and positioning the photovoltaic module through an alignment mechanism, image acquisition and positioning through an image positioning system, automatic picking and placing of materials through a material picking and placing mechanism, and servo control compensation transportation through a displacement mechanism, thereby ultimately realizing the replacement of manual labor by equipment.

[0029] 2. The photovoltaic module lead wire pad automatic pick-and-place device of the present invention accurately judges the position of the photovoltaic module through an image positioning system and accurately places the lead wire pad through a three-degree-of-freedom displacement mechanism, thereby improving the accuracy of the processing and ensuring product quality.

[0030] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0031] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0032] Figure 1 This is a front view of the automatic pick-and-place device for photovoltaic module lead wire pads according to the present invention;

[0033] Figure 2 This is a side view of the automatic pick-and-place device for photovoltaic module lead wire pads according to the present invention;

[0034] Figure 3 This is a top view of the displacement adjustment mechanism of the automatic pick-and-place device for photovoltaic module lead wire pads of the present invention;

[0035] Figure 4 This is a side view of the displacement adjustment mechanism of the automatic pick-and-place device for photovoltaic module lead wire pads of the present invention.

[0036] Figure 5 This invention relates to the transmission and alignment mechanism of the automatic pick-and-place device for photovoltaic module lead wire pads.

[0037] Figure 6 This is a side view of the transmission and straightening mechanism of the automatic pick-and-place device for photovoltaic module lead wire pads of the present invention;

[0038] Figure 7 This invention relates to a material handling mechanism for an automatic handling device for photovoltaic module lead wire pads.

[0039] Figure 8This is a bottom view of the material handling mechanism of the automatic handling device for photovoltaic module lead wire pads of the present invention.

[0040] Figure label:

[0041] 1-Component consolidation mechanism; 2-Production line; 3-X-direction displacement mechanism; 4-Z-direction displacement mechanism; 5-Y-direction displacement mechanism; 6-Material handling mechanism; 7-Material storage area; 8-Image positioning system; 9-Photovoltaic module;

[0042] 11-Base plate; 12-Side wall; 13-Straightening column; 14-Cylinder; 15-Elastic structure; 16-Roller; 17-Drive shaft;

[0043] 61-Rotating column; 62-Suction cup bracket; 63-Suction cup. Detailed Implementation

[0044] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0045] Example 1

[0046] A specific embodiment of the present invention discloses an automatic pick-and-place device for photovoltaic module lead wire pads, such as... Figure 1 As shown, it includes: a component alignment mechanism 1, a displacement mechanism, a material handling mechanism 6, and an image positioning system; the component alignment mechanism 1 can align and position the photovoltaic module 9; the image positioning system can take pictures and determine the position of the aligned photovoltaic module 9; the material handling mechanism 6 can handle the lead wire pads; the displacement mechanism is used to drive the material handling mechanism 6 to perform three-degree-of-freedom linear displacement.

[0047] The automatic pick-and-place device for photovoltaic module lead wire pads of the present invention picks and places materials through a material pick-and-place mechanism 6, and arranges photovoltaic modules 9 flowing into the pick-and-place device from the production line 2 through a module alignment mechanism 1, arranging the photovoltaic modules 9 to a designated position to facilitate automatic placement of the pads; furthermore, the position of the aligned photovoltaic modules 9 is determined by an image positioning system to determine the deviation between the actual placement position and the designated position, and after the deviation is calibrated by a displacement mechanism, the material pick-and-place mechanism 6 and the lead wire pads move synchronously to place the lead wire pads on the photovoltaic modules 9, thereby realizing automatic pick-and-place of the lead wire pads and ensuring the accuracy of the pad placement position.

[0048] Furthermore, the displacement mechanism is a three-degree-of-freedom displacement mechanism.

[0049] In one specific embodiment of the present invention, the displacement mechanism includes: an X-direction displacement mechanism 3, a Z-direction displacement mechanism 4, and a Y-direction displacement mechanism 5; the X-direction displacement mechanism 3 and the Y-direction displacement mechanism 5 are used to output linear displacement in the horizontal direction, and the movement directions of the X-direction displacement mechanism 3 and the Y-direction displacement mechanism 5 are perpendicular to each other; the Z-direction displacement mechanism 4 is used to output linear displacement in the vertical direction.

[0050] In one specific embodiment of the present invention, the X-direction displacement mechanism 3, the Z-direction displacement mechanism 4, and the Y-direction displacement mechanism 5 are all linear displacement mechanisms composed of a motor, a coupling, a transmission belt, and a pulley; the only difference between the mechanisms is their direction of motion, while the structural composition and motion principle of the motion mechanisms are the same.

[0051] Furthermore, the X-axis displacement mechanism 3, the Z-axis displacement mechanism 4, and the Y-axis displacement mechanism 5 are connected in series to realize the three-degree-of-freedom displacement of the material handling mechanism 6.

[0052] Specifically, the motor drives the pulley to rotate through the coupling, and the pulley drives the transmission belt to move linearly, thereby realizing the linear displacement of the X-axis displacement mechanism 3, the Z-axis displacement mechanism 4 and the Y-axis displacement mechanism 5. It can also drive the material picking and placing mechanism 6 and the material, i.e. the lead wire pad, to perform three-degree-of-freedom linear displacement motion simultaneously, placing the lead wire pad at the lead wire position of the photovoltaic module.

[0053] Secondly, in another specific embodiment of the present invention, the X-direction displacement mechanism 3, the Z-direction displacement mechanism 4, and the Y-direction displacement mechanism 5 are all linear displacement mechanisms equipped with guide rails, sliders, and drive mechanisms; specifically, the slider slides in cooperation with the guide rails, and the drive mechanism is a cylinder, a linear motor, or a hydraulic cylinder; the drive mechanism drives the slider to slide along the guide rails to achieve linear displacement.

[0054] Specifically, the X-direction displacement mechanism 3 includes: a horizontal guide rail, a horizontal slider, and a drive mechanism; the horizontal guide rail is set horizontally, and the drive mechanism drives the horizontal slider to slide along the horizontal guide rail.

[0055] Z-direction displacement mechanism 4 includes: a vertical guide rail, a vertical slider, and a drive mechanism; the vertical guide rail is set perpendicular to the horizontal plane, and the drive mechanism drives the vertical slider to slide along the vertical guide rail, thereby driving the material picking and placing mechanism 6 to move up and down in the vertical direction, i.e., Z-direction.

[0056] The Y-axis displacement mechanism 5 includes: a vertical guide rail, a vertical guide rail and a drive mechanism; the vertical guide rail is set perpendicular to the horizontal guide rail; and the vertical guide rail is also set horizontally, and the drive mechanism is used to drive the vertical slider to slide along the vertical guide rail.

[0057] Furthermore, the Y-direction displacement mechanism 5 is fixedly mounted on the horizontal slider of the X-direction displacement mechanism 3, and the Z-direction displacement mechanism 4 is fixedly mounted on the vertical slider of the Y-direction displacement mechanism 5. In practice, the X-direction displacement mechanism 3 drives the Y-direction displacement mechanism 5 to move along the horizontal guide rail, the Y-direction displacement mechanism 5 drives the Z-direction displacement mechanism 4 to move along the vertical guide rail, and the Z-direction displacement mechanism drives the material picking and placing mechanism 6 to move up and down.

[0058] The photovoltaic module lead wire pad automatic pick-and-place device of the present invention is as follows: after the photovoltaic module is positioned by the image positioning system, the position data is transmitted to the controller, and the controller controls the movement trajectory of the displacement mechanism; after position compensation by the displacement mechanism, the material pick-and-place mechanism 6 and the lead wire pad it adsorbs move, so as to realize the accurate placement of the material.

[0059] Furthermore, the material handling mechanism 6 employs a suction cup 63 capable of providing a vacuum negative pressure to pick up and place the lead wire pad. Alternatively, when the material is metallic, an electromagnet can be used to adsorb and grasp it. In this invention, a suction cup 63 is used to adsorb and grasp the lead wire pad.

[0060] Furthermore, the material handling mechanism 6 includes a rotating column 61 and a suction cup bracket 62; one end of the rotating column 61 is connected to the output shaft of the motor, and the other end is fixedly connected to the suction cup bracket 62; multiple suction cups 63 are arranged on the suction cup bracket 62. Furthermore, the multiple suction cups 63 are evenly distributed circumferentially with the axis of rotation of the rotating column 61 as the axis of rotation.

[0061] In one specific embodiment of the present invention, the material handling mechanism 6 is a rotary material suction mechanism.

[0062] Specifically, the suction cup bracket 62 has a symmetrical structure, and the rotating column 61 is fixedly disposed above the suction cup bracket 62 and located at the center of the suction cup bracket 62. Preferably, the suction cup bracket 62 is an equilateral triangle, a regular quadrilateral, or a circle.

[0063] For example, such as Figure 7 , Figure 8 As shown, the suction cup bracket 62 has an equilateral triangular structure, and three suction cups 63 are installed on the suction cup bracket 62. During implementation, the motor drives the rotating column 61 and the suction cup bracket 62 to rotate, and the suction cup bracket 62 drives the three suction cups 63 on it to switch positions; when a certain suction cup 63 is aligned with the material storage area 7, the suction cup 63 can adsorb and grasp the lead wire pads stored in the material storage area 7.

[0064] Furthermore, the material storage area 7 is a flat plate structure, and the lead wire pads are arranged in an array on the flat plate structure in sequence to facilitate the smooth gripping of the material picking and placing mechanism 6.

[0065] Alternatively, material storage area 7 can be a box-type structure, such as... Figure 1 , Figure 2 As shown. Furthermore, to facilitate the suction cup 63 in picking up the lead wire pad, the suction cup 63 and the suction cup bracket 62 are connected by a suction cup post; as shown... Figure 8 As shown, when the material storage area 7 is a box-type structure, the suction cup 63 can move down and extend into the material storage area 7 to pick up materials.

[0066] Furthermore, the automatic take-up and put-down device for lead wire pads of the present invention also includes a support frame, which is mounted above the production line 2 for conveying photovoltaic modules; a horizontal guide rail is provided on the support frame, and the X-axis displacement mechanism 3 can move linearly along the horizontal guide rail.

[0067] Furthermore, a material storage area 7 is provided on one side of the support frame; a component straightening mechanism 1 is provided on the other side of the support frame. The material storage area 7 is used to store lead wire pads; the straightening mechanism 1 is used to straighten and pre-position the photovoltaic modules 9 flowing in from the production line 2.

[0068] Specifically, the support frame is higher than the production line 2. By reasonably setting the height and width of the support frame, space is provided for the picking, placing and transporting of the lead wire pads, while the photovoltaic modules 9 on the production line 2 can flow smoothly into the sorting mechanism 1 for sorting.

[0069] 1) In one specific embodiment of the present invention, the component straightening mechanism 1 is a displacement straightening mechanism.

[0070] like Figure 3 , Figure 4 As shown, the displacement straightening mechanism includes: a base plate 11, a linear displacement device, and a straightening column 13; the linear displacement device can drive the straightening column 13 to move linearly, and when the straightening column 13 moves, it can push the photovoltaic module 9 to slide on the base plate 11.

[0071] Furthermore, the straightening mechanism 1 includes a cylinder 14 and a straightening column 13; the straightening column 13 is displaced under the drive of the cylinder 14, thereby pushing the photovoltaic module 9 to move and straightening and positioning the incoming photovoltaic module 9.

[0072] Furthermore, a sidewall 12 is vertically provided at the edge of the base plate 11. The sidewall 12 can prevent the photovoltaic module 9 from detaching from the base plate 11 of the straightening mechanism 1, and can also serve as a positioning reference for straightening. That is to say, when the straightening column 13 pushes the photovoltaic module 9 to fit against the sidewall 12, it is considered that the straightening is in place.

[0073] Furthermore, in order to avoid damage to the module surface from the rigid contact between the aligning column 13 and the photovoltaic module 9, an elastic structure 15 is provided at the end of the aligning column 13 that contacts the photovoltaic module 9; specifically, the elastic structure 15 can be made of rubber; or, the elastic structure 15 can be made of nylon.

[0074] Furthermore, to prevent excessive thrust from the straightening column 13 from damaging the photovoltaic module 9, a pressure sensor is installed on the side wall 12. When the pressure sensor detects the clamping force between the photovoltaic module 9 and the side wall 12, it is considered that the straightening is in place. The pressure sensor transmits the completion signal to the controller, and the controller controls the cylinder to stop moving. By setting the pressure sensor as a feedback component of the straightening mechanism 1, straightening information can be fed back, avoiding damage to the photovoltaic module due to excessive displacement of the straightening column 13.

[0075] like Figure 3 , Figure 4 As shown, the alignment column 13 extends and retracts under the drive of the cylinder 14. When the alignment column 13 extends, it can push the photovoltaic module 9 to slide on the base plate 11, thereby adjusting the position of the photovoltaic module 9 and enabling multiple photovoltaic modules 9 to be arranged sequentially on the base plate 11.

[0076] 2) In another specific embodiment of the present invention, the component alignment mechanism 1 is a transmission alignment mechanism.

[0077] like Figure 5 , Figure 6 As shown, the transmission and alignment mechanism includes: a base plate 11, a side wall 12, and rollers 16; multiple rollers 16 are nested on the base plate 11; the rollers 16 can drive the photovoltaic module 9 to slide relative to the base plate 11.

[0078] like Figure 5 , Figure 6 As shown, multiple rows of rollers 16 are arranged side by side on the base plate 11.

[0079] Furthermore, each row of rollers 16 is driven to rotate by a motor, which is fixedly mounted on the base plate 11.

[0080] Furthermore, the multiple rollers 16 in each row are connected by a drive shaft 17 to transmit power. Alternatively, the drive shaft 17 is fixedly connected to the multiple rollers 16 in a row, with one end of the drive shaft 17 fixedly connected to the output shaft of the motor and the other end rotatably connected to the base plate 11 via a bearing.

[0081] Furthermore, such as Figure 5 , Figure 6 As shown, the roller 16 is nested in the base plate 11, and the upper surface of the roller 16 is higher than the upper surface of the base plate 11.

[0082] When the production line 2 transports the photovoltaic module 9 to the straightening mechanism 1, the photovoltaic module 9 is placed on the rollers 16 and supported by multiple rollers 16. Furthermore, when the motor drives the rollers 16 to rotate, the photovoltaic module 9 is displaced under the action of the rollers 16, thus achieving the straightening and positioning of the photovoltaic module 9. For example, when the photovoltaic module 9 is in contact with the wall surface of the side wall 12, it is considered to be in the straightened position.

[0083] Furthermore, when the aligning mechanism 1 aligns the photovoltaic modules 9, there is a certain positional deviation, and the positions of the leads on each photovoltaic module 9 are slightly different. In order to ensure the accuracy of the pad placement, the present invention also provides an image positioning system to accurately determine the position of the photovoltaic modules 9.

[0084] In one specific embodiment of the present invention, the image positioning system includes: a photographing part and a controller.

[0085] Specifically, the camera is used to capture the location information of the photovoltaic module 9.

[0086] Specifically, the controller can identify the lead position based on the image information of the photovoltaic module 9 captured by the camera and input it to the controller; the controller calculates the position compensation value of the pad to be placed; that is, the controller can accurately locate the lead position on the photovoltaic module 9 based on the image information captured by the camera and determine the coordinates of the lead position.

[0087] Furthermore, the controller transmits the position compensation value to the displacement mechanism, which in turn moves the pad in the X, Y, and Z directions. After adjusting the position of the pad to match the position of the lead wire, the pad is placed on the lead wire of the photovoltaic module 9.

[0088] The material handling mechanism 6 and the displacement mechanism (compensation mechanism) of the present invention are both designed with a servo control system. The data collected by the image positioning system is input to the controller to complete the conversion and compensation, and then the X, Y and Z axis mechanisms are compensated to achieve accurate material handling.

[0089] Specifically, the camera is a CCD camera, which is an abbreviation for Charge Coupled Device. It is a special semiconductor device with many identical photosensitive elements, each called a pixel. The CCD is an important component in the camera, as it converts light into electrical signals.

[0090] Currently, the lead wire pads for photovoltaic modules are placed manually. To reduce the number of manual laborers and their fatigue, this invention presents an automatic lead wire pad picking and placing device. Through automatic material picking, image acquisition and positioning, and servo control compensation, the device completes the automatic picking and placing process of the lead wire pads, ultimately replacing manual labor with equipment.

[0091] Example 2

[0092] An automatic method for picking up and placing photovoltaic module lead wire pads is provided, which uses the automatic picking and placing device for photovoltaic module lead wire pads in Example 1 to pick up and place the lead wire pads.

[0093] The process of picking up and placing items includes the following steps:

[0094] Step S1: The assembly line 2 transports the photovoltaic modules 9 to the module sorting mechanism 1; and the module sorting mechanism 1 performs sorting and positioning.

[0095] Step S2: The image positioning system 8 takes pictures of the photovoltaic module 9 on the module alignment mechanism 1 and compares the actual position of the photovoltaic module 9 with the preset position;

[0096] The deviation between the actual position and the preset position is calculated, and the deviation is the position compensation value;

[0097] Step S3: The material handling mechanism 6 picks up the lead wire pad on the material storage area 7 through the suction cup 63;

[0098] After the suction cup 63 picks up the lead wire pad, the displacement mechanism adjusts the position according to the position compensation value and transports the lead wire pad to the top of the photovoltaic module 9; further, the suction cup 63 releases and places the lead wire pad on the photovoltaic module 9.

[0099] In step S1, the alignment and positioning process of the alignment mechanism 1 for the photovoltaic module 9 includes:

[0100] Step S11: When a displacement alignment mechanism is used, the cylinder 14 drives the alignment column 13 to move, and the alignment column 13 pushes the photovoltaic module 9 to move, thereby aligning and positioning the photovoltaic module 9; when a transmission alignment mechanism is used, the motor drives the roller 16 to rotate through the transmission shaft 17, and the rotation of the roller 16 drives the photovoltaic module 9 on it to move, thereby aligning and positioning the photovoltaic module 9.

[0101] Step S12: When the photovoltaic module 9 moves to fit against the wall surface of the side wall 12, it is considered to be in place; further, the photovoltaic module 9 is monitored by a pressure sensor to see if it is in contact with the wall surface of the side wall 12, and to see if the photovoltaic module 9 is in place.

[0102] In step S2, after the positioning is completed, the image positioning system takes pictures of the photovoltaic module 9 for positioning and transmits the images visually. Specifically, the camera captures the position image of the photovoltaic module 9, the controller identifies the position of the lead wire through the captured image information, calculates the compensation value of the placement position by comparing it with the standard layout of the module design, and finally transmits the compensated displacement information to the displacement mechanism.

[0103] Specifically, the controller calculates the compensation values ​​in the X, Y, and Z directions for the position of the pad to be placed by comparing the actual position of the lead wire of the photovoltaic module 9 with the preset position in the X, Y, and Z directions.

[0104] Furthermore, in step S3, when the material handling mechanism 6 picks up the lead wire pad, the motor drives the suction cup bracket 62 to rotate, so that one of the suction cups 63 is aligned vertically with the lead wire pad, and the suction cup 63 picks up the lead wire pad; the suction cup bracket 62 continues to rotate, so that all the suction cups 63 complete the picking up of the lead wire pad in sequence.

[0105] Specifically, the material handling mechanism is composed of multiple sets of suction cups 63. After picking up the material, it can transport multiple lead wire pads at one time. This design increases the number of pads that can be picked up and improves the production efficiency.

[0106] Furthermore, when placing the lead wire pads on the photovoltaic module 9, multiple lead wire pads are placed sequentially by rotating the suction cup bracket 62.

[0107] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic pick-and-place device for photovoltaic module lead wire pads, characterized in that, include: The system includes a component alignment mechanism (1), a displacement mechanism, a material handling mechanism, and an image positioning system. The component alignment mechanism (1) can align and position the photovoltaic module (9). The image positioning system can take pictures and determine the position of the aligned photovoltaic module (9). The material handling mechanism (6) can handle the lead wire pads. The displacement mechanism is used to drive the material handling mechanism (6) to perform three-degree-of-freedom linear displacement. The component straightening mechanism (1) is a transmission straightening mechanism; The transmission and straightening mechanism includes: a base plate (11), a side wall (12), and rollers (16); the rollers (16) are nested on the base plate (11); multiple rows of rollers (16) are arranged side by side on the base plate (11); each row of rollers (16) is driven to rotate by a motor, and the motor is fixedly installed on the base plate (11); multiple rollers (16) in each row are connected by a transmission shaft (17) to transmit power; the rollers (16) are nested in the base plate (11), and the upper surface of the rollers (16) is higher than the base plate (11). The upper surface of the base plate (11); the roller (16) can drive the photovoltaic module (9) to slide relative to the base plate (11); the edge of the base plate (11) is vertically provided with a side wall (12), which can prevent the photovoltaic module (9) from detaching from the base plate (11) of the module alignment mechanism (1) and at the same time serve as the positioning reference for alignment; a pressure sensor is provided on the side wall (12), and when the pressure sensor detects the clamping force between the photovoltaic module (9) and the side wall (12), it is considered that the alignment is in place.

2. The automatic pick-and-place device for photovoltaic module lead wire pads according to claim 1, characterized in that, The displacement mechanism includes: an X-direction displacement mechanism (3), a Z-direction displacement mechanism (4), and a Y-direction displacement mechanism (5); the X-direction displacement mechanism (3) and the Y-direction displacement mechanism (5) are used to output linear displacement in the horizontal direction, and the movement directions of the X-direction displacement mechanism (3) and the Y-direction displacement mechanism (5) are perpendicular to each other; the Z-direction displacement mechanism (4) is used to output linear displacement in the vertical direction.

3. The automatic pick-and-place device for photovoltaic module lead wire pads according to claim 1, characterized in that, The material handling mechanism (6) includes a suction cup (63) for picking up and placing the lead wire pad.

4. The automatic pick-and-place device for photovoltaic module lead wire pads according to claim 3, characterized in that, The material handling mechanism (6) further includes a rotating column (61) and a suction cup bracket (62); one end of the rotating column (61) is connected to the output shaft of the motor, and the other end is fixedly connected to the suction cup bracket (62).

5. The automatic pick-and-place device for photovoltaic module lead wire pads according to claim 4, characterized in that, The suction cups (63) are evenly distributed circumferentially around the axis of rotation of the rotating column (61).

6. The automatic pick-and-place device for photovoltaic module lead wire pads according to claim 2, characterized in that, It also includes a support frame, which is mounted above the production line (2) for transporting photovoltaic modules; a horizontal guide rail is provided on the support frame, and the X-axis displacement mechanism (3) can move linearly along the horizontal guide rail.

7. The automatic pick-and-place device for photovoltaic module lead wire pads according to claim 6, characterized in that, A material storage area (7) is provided on one side of the support frame; a component straightening mechanism (1) is provided on the other side of the support frame.

8. A method for automatically picking up and placing lead wire pads for photovoltaic modules, characterized in that, The automatic pick-and-place device for photovoltaic module lead wire pads according to any one of claims 1-7 includes the following steps: Step S1: The assembly line (2) transports the photovoltaic module (9) to the module straightening mechanism (1); and straightens and positions the module through the module straightening mechanism (1); Step S2: The image positioning system (8) takes pictures of the photovoltaic modules (9) on the component alignment mechanism (1) and compares the actual position of the photovoltaic modules (9) with the preset position; The deviation between the actual position and the preset position is calculated, and the deviation is the position compensation value; Step S3: The material handling mechanism (6) picks up the lead wire pad on the material storage area (7) through the suction cup (63); After the suction cup (63) picks up the lead wire pad, the displacement mechanism adjusts the position according to the position compensation value and transports the lead wire pad to the top of the photovoltaic module (9); The suction cup (63) is released to place the lead wire pad onto the photovoltaic module (9).

Images