Solar substrate automatic loading and unloading processing equipment and method thereof

Abstract

The present application relates to the technical field of solar substrate production, in particular to a kind of solar substrate automatic feeding and discharging processing equipment and method thereof.The equipment includes flower basket feeding and discharging machine, laser processing host, and the flower basket feeding and discharging machine includes flower basket feeding module, flower basket discharging module, feeding horizontal transport module, discharging horizontal transport module, and the laser processing host includes flower basket lifting feeding mechanism, flower basket lifting discharging mechanism, telescopic conveying mechanism, material alignment mechanism, material buffer mechanism, material handling mechanism, double-station handling platform, visual positioning mechanism, laser processing mechanism, NG receiving mechanism and detection mechanism.The present application realizes the automation of feeding and discharging of flower basket through the cooperation of flower basket feeding and discharging machine and laser processing host, and realizes the automation of solar substrate conveying, processing and basket loading process, which runs quickly and efficiently throughout the process without human intervention, greatly improves production efficiency and reduces error rate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of solar substrate production, in particular to a kind of solar substrate automatic feeding and discharging processing equipment and method thereof. BACKGROUND

[0002] In the production process of solar substrate, the flower basket loaded with solar substrate is transported to the work station, and each solar substrate is taken out and transported to the laser equipment for processing. The processed solar substrate is collected in the flower basket and transported. The traditional flower basket transportation and solar substrate feeding and processing process adopts manual operation mode, which causes low production efficiency, high labor intensity of manual operation and easy error, which causes solar substrate damage and high production cost. Therefore, with the development of automation, how to use automatic equipment to replace manual operation for solar substrate feeding and processing becomes a problem to be solved. SUMMARY

[0003] The present application provides a kind of solar substrate automatic feeding and discharging processing equipment and method thereof, to solve the problems existing in the prior art.

[0004] The present application provides a kind of solar substrate automatic feeding and discharging processing equipment, including flower basket feeding and discharging machine, laser processing host, the flower basket feeding and discharging machine includes flower basket feeding module, flower basket discharging module, feeding horizontal transportation module, discharging horizontal transportation module, the laser processing host includes flower basket lifting feeding mechanism, flower basket lifting discharging mechanism, telescopic conveying mechanism, material alignment mechanism, material buffer mechanism, material handling mechanism, double-station handling platform, visual positioning mechanism, laser processing mechanism, NG material receiving mechanism, detection mechanism, the double-station handling platform is equipped with laser processing station, feeding station, discharging station, the visual positioning mechanism and laser processing mechanism are arranged above the laser processing station of double-station handling platform, the flower basket feeding module, feeding horizontal transportation module, flower basket lifting feeding mechanism, telescopic conveying mechanism, material alignment mechanism, detection mechanism, NG material receiving mechanism, material buffer mechanism, material handling mechanism, the feeding station of double-station handling platform is sequentially connected in proper order and constitutes feeding assembly line, the discharging station of double-station handling platform, material handling mechanism, material buffer mechanism, detection mechanism, NG material receiving mechanism, material alignment mechanism, telescopic conveying mechanism, flower basket lifting discharging mechanism, discharging horizontal transportation module, flower basket discharging module are sequentially connected in proper order and constitute discharging assembly line.

[0005] As a further improvement of the present invention, each of the flower basket feeding modules includes multiple sets of flower basket feeding conveyor lines arranged side by side, and each of the flower basket discharging modules includes multiple sets of flower basket discharging conveyor lines arranged side by side. The flower basket feeding conveyor lines include a normal speed feeding section and an accelerated feeding section. The normal speed feeding section is connected to the accelerated feeding section. The feeding lateral transport module is connected to the accelerated feeding section of the multiple sets of flower basket feeding conveyor lines. The discharging lateral transport module is connected to the multiple sets of flower basket discharging conveyor lines. A feeding blocking cylinder is provided at the end of the feeding direction of the normal speed feeding section.

[0006] As a further improvement of the present invention, the feeding transverse conveying module and the discharging transverse conveying module are composed of two transverse conveying modules arranged in the loading and unloading directions of the flower baskets. The transverse conveying module includes a transverse straight module, a transverse conveying slider, a transverse conveying conveyor belt, and a transverse conveying blocking cylinder. The transverse straight module spans multiple sets of flower basket feeding conveyor lines or multiple sets of flower basket discharging conveyor lines. The transverse conveying slider is slidably connected to the transverse straight module. The transverse conveying conveyor belt is connected to the transverse conveying slider. When the transverse straight module drives the transverse conveying slider to one of the flower basket feeding conveyor lines or flower basket discharging conveyor lines, the transverse conveying conveyor belt docks with the flower basket feeding line or flower basket discharging line. The transverse conveying blocking cylinder is connected to the transverse conveying slider and blocks the flower basket located on the transverse conveying conveyor belt.

[0007] As a further improvement of the present invention, the dual-station transport platform includes a dual-moving-element transfer module, a transport fixture for placing solar substrates, and moving-element sliders. Two sets of moving-element sliders are slidably connected to the dual-moving-element transfer module. The transport fixture is connected to the moving-element sliders. The dual-moving-element transfer module drives the transport fixture to move between the loading station, the unloading station, and the laser processing station through the moving-element sliders.

[0008] As a further improvement of the present invention, the dual-station transport platform also includes a backlight source for image acquisition in conjunction with the visual positioning mechanism, and a light-transmitting hole is provided at the top corner of the transport fixture, with the backlight source located below the light-transmitting hole.

[0009] As a further improvement of the present invention, the transport fixture includes a fixture plate, a leveling support plate, an adjusting screw, an adjusting outer nut, an adjusting knob, and a locking bolt. The leveling support plate is mounted on the moving slider, the fixture plate is connected to the leveling support plate, the leveling support plate is provided with leveling holes, the adjusting outer nut is fixed in the leveling holes, one end of the adjusting screw passes through the adjusting outer nut and pushes against the fixture plate, the adjusting screw and the adjusting outer nut are connected by threads, the other end of the adjusting screw is connected to the adjusting knob, and the locking bolt is connected to the bottom of the adjusting knob.

[0010] As a further improvement of the present application, the material handling mechanism comprises a handling support, a material handling module, a suction cup support, a material suction cup, and a suction cup leveling assembly, the material handling module is connected to the handling support, the suction cup support is slidingly connected to the material handling module, the suction cup support is connected to at least one material suction cup, and one end of the suction cup leveling assembly is fixed to the suction cup support and the other end of the suction cup leveling assembly is in abutment with the material suction cup to adjust the angle of the material suction cup.

[0011] As a further improvement of the present application, the NG material collecting mechanism comprises a material collecting support, a material collecting handling module, a material collecting suction cup, and a material collecting jig, the material collecting handling module is installed on the material collecting support, the material collecting suction cup is slidingly connected to the material collecting handling module, the material collecting jig is arranged on one side of the unloading assembly line, and the material collecting handling module drives the material collecting suction cup to move between the unloading assembly line and the material collecting jig; the detection mechanism comprises a detection support and a detection camera for detecting whether the solar energy substrate has a broken piece or a hidden crack defect, the detection support is installed horizontally above the loading assembly line and the unloading assembly line, and a plurality of detection cameras are connected to the detection support.

[0012] As a further improvement of the present application, the visual positioning mechanism comprises a visual positioning support and a visual positioning camera for positioning the solar energy substrate to be processed, the visual positioning support is installed above the laser processing station of the double-station handling platform, and the visual positioning camera is connected to the visual positioning support and is aligned with the double-station handling platform.

[0013] The present application also provides a solar energy substrate automatic loading and unloading processing method, which is based on the solar energy substrate automatic loading and unloading processing equipment and comprises the following processes:

[0014] S1. Basket loading process: the AGV transports the basket filled with solar energy substrate raw materials to the basket feeding module, the normal-speed feeding section of the basket feeding conveying line receives the basket, the basket in front enters the acceleration feeding section and is sent to the feeding transverse handling module, at the same time, the feeding blocking cylinder blocks the basket behind the normal-speed feeding section, and the feeding transverse handling module sends the basket to the basket lifting loading mechanism, and then returns and receives the next basket;

[0015] S2. The basket lifting loading mechanism fixes the basket, and the telescopic conveying mechanism receives the solar energy substrate in the basket, when one piece of solar energy substrate is taken out, the basket lifting loading mechanism drives the basket to descend to make the next piece of solar energy substrate abut against the telescopic conveying mechanism;

[0016] S3. The material alignment mechanism aligns the solar energy substrate on the loading assembly line;

[0017] S4. The detection mechanism detects the defects of the solar energy substrate raw materials, and when a defective solar energy substrate is detected, the NG material collecting mechanism takes away the solar energy substrate;

[0018] S5. The material buffering mechanism of the feeding line performs the following sub-steps:

[0019] If the material in front of the feeding line is accumulated, the material buffering mechanism buffers the raw solar panel material;

[0020] If the material in front of the feeding line is insufficient, the material buffering mechanism releases the buffered raw solar panel material;

[0021] If the material in front of the feeding line is neither accumulated nor insufficient, the material buffering mechanism does not act;

[0022] S6. The material carrying mechanism carries the raw solar panel material on the feeding line to the carrying fixture on the double-station carrying platform at the feeding station;

[0023] S7. The double-station carrying platform performs the following sub-steps:

[0024] If there is no other solar panel being processed at the laser processing station, the carrying fixture is driven to move to the laser processing station, and after the initial positioning by the visual positioning mechanism, the laser processing mechanism processes the solar panel; after the processing, the carrying fixture is driven to move to the unloading station, and after the material carrying mechanism of the unloading line takes away the processed solar panel, the carrying fixture is driven back to the feeding station to wait for the feeding of the next batch of solar panels;

[0025] If there is another solar panel being processed at the laser processing station, the carrying fixture does not act, and waits for the laser processing station to be idle before performing the action;

[0026] S8. The material carrying mechanism carries the processed solar panel on the unloading station of the double-station carrying platform to the unloading line;

[0027] S9. The material buffering mechanism of the unloading line performs the following sub-steps:

[0028] If the material in front of the unloading line is accumulated, the material buffering mechanism buffers the processed solar panel material;

[0029] If the material in front of the unloading line is insufficient, the material buffering mechanism releases the buffered processed solar panel material;

[0030] If the material in front of the unloading line is neither accumulated nor insufficient, the material buffering mechanism does not act;

[0031] S10. The detection mechanism detects defects of the processed solar panel, and when a defective solar panel is detected, the NG material collection mechanism takes away the solar panel;

[0032] S11. The material alignment mechanism aligns the processed solar panel on the unloading line.

[0033] S12. The telescopic conveying mechanism sequentially feeds the solar substrate clinker into the empty flower basket. When a piece of solar substrate is put in, the flower basket lifting and unloading mechanism drives the flower basket to rise, so that the next empty slot is connected to the telescopic conveying mechanism;

[0034] S13. When the flower basket is full of solar substrate clinker, the flower basket lifting and unloading mechanism sends the flower basket to the discharge transverse conveying module, and then transports the flower basket to a group of flower basket discharge conveying lines of the flower basket discharge module. When the multiple groups of flower basket discharge conveying lines are full of flower baskets, the AGV connects to the flower basket discharge module and takes away the flower baskets.

[0035] The beneficial effects of the present application are: through the cooperation of the flower basket feeding and discharging machine and the laser processing main machine, the automatic feeding and discharging of the flower basket is realized, the automatic conveying, processing and basket loading process of the solar substrate are realized, the whole process runs quickly and efficiently, no manual intervention is needed, the production efficiency is greatly improved, and the error rate is also reduced. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is the overall structure diagram of the solar substrate automatic feeding and discharging processing equipment of the present application;

[0037] Figure 2 is the structure diagram of the multiple groups of flower basket feeding and discharging machines in the present application;

[0038] Figure 3 is the structure diagram of the single group of flower basket feeding and discharging machines in the present application;

[0039] Figure 4 is the structure diagram of the transverse conveying module in the present application;

[0040] Figure 5 is the structure diagram of the laser processing main machine in the present application;

[0041] Figure 6 is the structure diagram of the laser processing main machine in the present application;

[0042] Figure 7 is the structure of the feeding and discharging assembly in the laser processing main machine of the present application;

[0043] Figure 8 is the structure diagram of the flower basket feeding mechanism and the flower basket discharging mechanism in the present application;

[0044] Figure 9 is the structure diagram of the telescopic conveying mechanism in the present application;

[0045] Figure 10 is the structure diagram of the material alignment mechanism in the present application;

[0046] Figure 11 is the structure diagram of the material buffer mechanism in the present application;

[0047] Figure 12 is the structural diagram of the material handling mechanism in the application;

[0048] Figure 13 is the structural diagram of the suction cup support and the material suction cup in the material handling mechanism in the application;

[0049] Figure 14 is the structural diagram of the suction cup leveling assembly in the material handling mechanism in the application;

[0050] Figure 15 is the structural diagram of the double-station handling platform in the application;

[0051] Figure 16 is the structural diagram of the handling platform in the application;

[0052] Figure 17 is the structural diagram of the handling platform leveling structure in the application;

[0053] Figure 18 is the structural diagram of the NG material receiving mechanism in the application. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical scheme and advantages of the application more clear and obvious, the application is further described in detail below in combination with the drawings and examples.

[0055] As Figures 1 to 2 , Figures 5 to 7As shown, the solar substrate automatic feeding and discharging processing equipment of the present application comprises a flower basket feeding and discharging machine 11 and a laser processing main machine 12. The flower basket feeding and discharging machine 11 comprises a flower basket feeding module 21, a flower basket discharging module 22, a feeding transverse carrying module 231 and a discharging transverse carrying module 232. The laser processing main machine 12 comprises a flower basket lifting feeding mechanism 31, a flower basket lifting discharging mechanism 32, an extension conveying mechanism 4, a material alignment mechanism 5, a material buffer mechanism 6, a material carrying mechanism 7, a double-station carrying platform 8, a visual positioning mechanism 91, a laser processing mechanism 92, an NG material collecting mechanism 933 and a detection mechanism 94. The double-station carrying platform 8 is provided with a laser processing station, a feeding station and a discharging station. The visual positioning mechanism 91 and the laser processing mechanism 92 are arranged above the laser processing station of the double-station carrying platform 8. The flower basket feeding module 21, the feeding transverse carrying module 231, the flower basket lifting feeding mechanism 31, the extension conveying mechanism 4, the material alignment mechanism 5, the detection mechanism 94, the NG material collecting mechanism 933, the material buffer mechanism 6, the material carrying mechanism 7 and the feeding station of the double-station carrying platform 8 are sequentially and successively connected to form a feeding assembly line. The discharging station of the double-station carrying platform 8, the material carrying mechanism 7, the material buffer mechanism 6, the detection mechanism 94, the NG material collecting mechanism 933, the material alignment mechanism 5, the extension conveying mechanism 4, the flower basket lifting discharging mechanism 32, the discharging transverse carrying module 232 and the flower basket discharging module 22 are sequentially and successively connected to form a discharging assembly line.

[0056] The solar substrate automatic feeding and discharging processing equipment further comprises a dust collector 13 and a cold water machine 14. The dust collector 13 is mainly used for dust adsorption in the laser processing process. The cold water machine 14 realizes the cooling effect in the working process of the laser processing mechanism.

[0057] As shown in Figure 2 and Figure 3 Each flower basket feeding module 21 comprises a plurality of groups of flower basket feeding conveying lines 211 arranged in parallel. Each flower basket discharging module 22 comprises a plurality of groups of flower basket discharging conveying lines 221 arranged in parallel. The flower basket feeding conveying line 211 comprises a general-speed feeding section 212 and an accelerated feeding section 213. The general-speed feeding section 212 is connected to the accelerated feeding section 213. The feeding transverse carrying module 231 is connected to the accelerated feeding sections 213 of the plurality of groups of flower basket feeding conveying lines 211. The discharging transverse carrying module 232 is connected to the plurality of groups of flower basket discharging conveying lines 221. The general-speed feeding section 212 is provided with a feeding blocking cylinder 214 at the end of the feeding direction.

[0058] The normal speed feeding section 212 comprises a normal speed motor 2121, a first feeding conveying belt 2122, and a first feeding baffle 2123. The driving wheel of the normal speed motor 2121 is connected with the first feeding conveying belt 2122, and the first feeding baffle 2123 is arranged on both sides of the first feeding conveying belt 2122. The normal speed motor 2121 drives the first feeding conveying belt 2122 at a speed slower than the acceleration feeding section 213. The first feeding conveying belt 2122 can simultaneously place multiple flower baskets 15, and the first feeding baffle 2123 limits the positions of the multiple flower baskets 15 to align them in the middle of the first feeding conveying belt 2122.

[0059] The acceleration feeding section 213 comprises an acceleration motor 2131, a second feeding conveying belt 2132, and a second feeding baffle 2133. The driving wheel of the acceleration motor 2131 is connected with the second feeding conveying belt 2132, and the second feeding baffle 2133 is arranged on both sides of the second feeding conveying belt 2132. The acceleration motor 2131 drives the first feeding conveying belt 2122 at a speed faster than the normal speed feeding section 212. The second feeding conveying belt 2132 passes one flower basket 15 at a time. The second feeding baffle 2133 limits the position of the flower basket 15 to align it in the middle of the second feeding conveying belt 2132 and abuts against the carrying conveying belt 35.

[0060] The discharging conveying line 221 comprises a discharging motor 2211, a discharging conveying belt 2212, and a discharging baffle 2213. The driving wheel of the discharging motor 2211 is connected with the discharging conveying belt 2212, and the discharging baffle 2213 is arranged on both sides of the discharging conveying belt 2212. The entire discharging conveying line 221 is used to convey the flower baskets 15 by the discharging conveying belt 2212 without dividing the normal speed section and the acceleration section. The discharging baffle 2213 limits the positions of the flower baskets 15 on the discharging conveying belt 2212 to align multiple flower baskets 15 in the middle.

[0061] The flower basket feeding and discharging machine 11 adopts multiple conveying lines to complete the feeding and discharging of the flower baskets, which meets the demand of feeding and discharging a larger number of flower baskets 15. The transverse carrying module 23 can freely switch between the multiple conveying lines. When the flower baskets 15 on one conveying line complete the feeding or discharging, the transverse carrying module 23 immediately switches to operate another conveying line, so that the feeding and discharging process is continuously performed, and the production efficiency is improved.

[0062] As shown in FIG. 1, the flower basket feeding and discharging machine 11 comprises a feeding and discharging conveying line 21, a transverse carrying module 23, and a flower basket unloading machine 11. Figure 4As shown, the feeding transverse conveying module 231 and the discharging transverse conveying module 232 are two transverse conveying modules 23 arranged in the feeding direction and the discharging direction of the flower basket, which comprises a transverse linear module 233, a transverse conveying slider 234, a transverse conveying belt 235 and a transverse blocking cylinder 236. The transverse linear module 233 is arranged across a plurality of groups of the flower basket feeding conveying lines 211 or the flower basket discharging conveying lines 221. The transverse conveying slider 234 is slidably connected to the transverse linear module 233. The transverse conveying belt 235 is connected to the transverse conveying slider 234. When the transverse linear module 233 drives the transverse conveying slider 234 to one group of the flower basket feeding conveying lines 211 or the flower basket discharging conveying lines 221, the transverse conveying belt 235 is in butt joint with the flower basket feeding conveying lines 211 or the flower basket discharging conveying lines 221. The transverse blocking cylinder 236 is connected to the transverse conveying slider 234 and blocks the flower basket on the transverse conveying belt 235.

[0063] The transverse conveying module 23 further comprises a transverse conveying baffle 237 connected to the transverse conveying slider 234 and arranged on both sides of the transverse conveying belt 235. The two end edges of the transverse conveying baffle 237 are further provided with chamfers, which can guide the flower basket 15 to enter the transverse conveying belt 235. When the transverse conveying slider 234 moves laterally, the transverse conveying baffle 237 limits the bottom of the flower basket 15 to avoid it from sliding off the transverse conveying belt 235.

[0064] The transverse linear module 233 drives the transverse conveying slider 234 to move laterally between the plurality of groups of the flower basket feeding conveying lines 211 or the flower basket discharging conveying lines 221, and transfers the flower basket 15 through the butt joint of the transverse conveying belt 235. When one of the flower basket feeding conveying lines 211 or the flower basket discharging conveying lines 221 completes feeding or discharging, it can be switched to a new flower basket feeding conveying line 211 or a new flower basket discharging conveying line 221 to realize uninterrupted and efficient feeding or discharging operation. The transverse blocking cylinder 236 mainly blocks the flower basket 15 on the transverse conveying belt 235 to prevent the flower basket 15 from flowing out of position.

[0065] The flower basket feeding and discharging machine 11 adopts a two-layer mechanism. The upper layer is a flower basket feeding module 21 and a feeding horizontal conveying module 231 cooperating to transport the flower basket 15 filled with raw materials to the flower basket lifting feeding mechanism 31. The lower layer is a flower basket discharging module 22 and a discharging horizontal conveying module 232 cooperating. After the flower basket 15 is filled with clinkers, the flower basket lifting discharging mechanism 32 sends the flower basket 15 to the lower layer and the discharging horizontal conveying module 232. The upper layer receives 10 raw material flower baskets 15 at a time, and the lower layer can take away 10 clinker flower baskets 15 at a time. The flower basket feeding conveying line 211 of the upper layer is divided into a normal-speed feeding section 212 and an accelerated feeding section 213. The normal-speed feeding section 212 receives 10 flower baskets 15 on the AGV, and the accelerated feeding section 213 realizes acceleration to pull away from the flower basket 15 behind to convey the flower basket into the laser processing main machine 12 one by one. After acceleration, the feeding blocking cylinder 214 is extended to prevent the flower basket 15 behind from flowing together. The flower basket discharging conveying line 221 of the lower layer has no accelerated section conveying line and can receive the clinker flower basket 15 one by one until 5 flower baskets 15 on the left and right at the same time, and then notify the AGV to automatically receive 10 clinker flower baskets 15. The horizontal conveying module 233 mainly realizes the switching of the left and right conveying lines, and takes 5 flower baskets 15 in turn, and then switches to the other conveying line to receive the flower basket 15.

[0066] As shown in Figure 8 The flower basket lifting feeding mechanism 31 and the flower basket lifting discharging mechanism 32 each include a flower basket Z-axis lifting module 33, a flower basket conveying line 34, a flower basket pressing cylinder 35, an adjustable blocking edge 36, and a flower basket position sensor 37. The flower basket conveying line 34 is slidingly connected to the flower basket Z-axis lifting module 33. The flower basket pressing cylinder 35 is arranged above the flower basket conveying line 34. The adjustable blocking edge 36 is located on both sides of the flower basket conveying line 34. The flower basket position sensor 37 is arranged at the front end of the flower basket conveying line 34. When the flower basket position sensor 37 senses that the flower basket is placed on the flower basket conveying line 34, the flower basket pressing cylinder 35 is driven to press the flower basket downward.

[0067] The flower basket lifting feeding mechanism 31 is connected to the feeding horizontal conveying module 231 of the flower basket feeding and discharging machine 11. When the flower basket filled with solar basic materials is sent to the flower basket lifting feeding mechanism 31, the flower basket conveying line 34 receives the flower basket and transports it to the corresponding station. The adjustable blocking edge 36 positions the flower basket. When the flower basket position sensor 37 senses that the flower basket is transported to the specified position, the flower basket pressing cylinder 35 clamps the flower basket downward. The flower basket is internally provided with a multi-layer structure, and each layer corresponds to placing a solar substrate raw material. In the subsequent feeding process, the telescopic conveying mechanism 4 takes away a layer of solar substrates at a time. After taking away, the flower basket Z-axis lifting module 33 lowers the flower basket by one layer of height, so that the new layer of solar substrates can be aligned with the telescopic conveying mechanism 4, facilitating the next feeding.

[0068] The flower basket lifting and unloading mechanism 32 is connected to the telescopic conveying mechanism 4 to deliver the clinkers. Each piece of solar energy substrate is placed in each layer of the flower basket 15. When one layer of the flower basket 15 is placed, the flower basket Z-axis lifting module 33 drives the flower basket to rise by one layer of height to align with the telescopic conveying mechanism 4. When the flower basket 15 is full, the flower basket pressing cylinder 35 drives the adjustable baffle 36 to release the flower basket 15. The flower basket conveying line 34 sends the flower basket out and connects to the discharging horizontal conveying module 232 of the flower basket feeding and unloading machine 11 to complete the unloading of the flower basket.

[0069] As shown in Figure 9 The telescopic conveying mechanism 4 is connected to the flower basket lifting and feeding mechanism 31 or the flower basket lifting and unloading mechanism 32. The telescopic conveying mechanism 4 includes a telescopic support 41, a conveying motor 42, a driving wheel 43, a first driven wheel 44, a second driven wheel 45, a third driven wheel 46, a belt 47, and a telescopic slider 48. The conveying motor 42 is installed on the telescopic support 41. The telescopic slider 48 is in sliding fit with the telescopic support 41. The driving wheel 43 is connected to the conveying motor 42 through a transmission belt. The first driven wheel 44 is connected to the telescopic support 41. The second driven wheel 45 and the third driven wheel 46 are connected to the telescopic slider 48. The belt 47 is tensioned on the driving wheel 43, the first driven wheel 44, the second driven wheel 45, and the third driven wheel 46.

[0070] During the feeding and unloading of the flower basket 15, the telescopic conveying mechanism 4 is in a retracted state to leave space for the operation of the flower basket lifting and feeding mechanism 31 or the flower basket lifting and unloading mechanism 32. When the flower basket 15 is stable, the telescopic conveying mechanism 4 is extended to connect to each layer of the flower basket. During feeding, the cylinder drives the telescopic slider 48 to extend outward along the telescopic sliding rail 49 on the telescopic support 41. The belt 47 also extends outward along the telescopic slider 48. When it is connected to the inside of the flower basket, it stops. The belt 47 takes one piece of solar energy substrate and conveys it forward. Each time one piece of solar energy substrate is taken away, the flower basket lifting and feeding mechanism 31 is lowered by one layer, thereby realizing automatic feeding of the solar energy substrate. During unloading, the process is opposite to that during feeding. The cylinder drives the telescopic slider 48 to extend outward along the sliding rail on the telescopic support 41. The belt 47 also extends outward along the telescopic slider 48. The belt 47 conveys the solar energy substrate into the flower basket. Each time one piece of solar energy substrate is placed, the flower basket lifting and unloading mechanism 32 rises by one layer. This process is repeated to realize automatic unloading of the sheet material.

[0071] As shown in Figure 10As shown, the material alignment mechanism 5 comprises an alignment bracket 51, an alignment motor 52, connecting rods 53, swing arms 54, clamping arms 55, alignment rollers 56, and clamping-to-position sensors 57. The alignment motor 52 is mounted on the alignment bracket 51, two sets of clamping arms 55 are slidingly connected to the alignment bracket 51, the middle part of the swing arm 54 is connected to the output shaft of the alignment motor 52, the two ends of the swing arm 54 are respectively hinged to one end of the connecting rod 53, the other end of the connecting rod 53 is hinged to the clamping arm 55, the alignment roller 56 is connected to the clamping arm 55, and the clamping-to-position sensor 57 is connected to the alignment bracket 51 and senses the rotation angle of the swing arm 54. The material alignment mechanism 5 further comprises an alignment guide rail 581 and an alignment sliding block 582. The alignment guide rail 581 is fixed to the alignment bracket 51, and the clamping arm 55 is fixed to the alignment sliding block 582. Through the cooperation between the alignment sliding block 582 and the alignment guide rail 581, the sliding connection of the clamping arm 55 relative to the alignment bracket 51 is achieved.

[0072] The material alignment mechanism 5 is arranged at the feeding and discharging assembly line. After the solar energy substrate is conveyed to the material alignment mechanism 5, the swing arm 54 is driven to swing by the alignment motor 52, the clamping arm 55 is driven to translate along the alignment guide rail 581 by the connecting rod 53, so as to clamp the solar energy substrate, thereby realizing the centering alignment of the solar energy substrate and improving the position consistency of the solar energy substrate.

[0073] The material alignment mechanism 5 further comprises two front-and-rear symmetrical edge-finding sensor units 59. The edge-finding sensor units 59 are connected to the alignment bracket 51 through mounting frames, and the two front-and-rear symmetrical edge-finding sensor units 59 are arranged on the front and rear sides of one of the clamping arms 55. The front-and-rear direction is the conveying direction of the conveying belt for conveying the solar energy substrate, and the left-and-right direction is perpendicular to the conveying direction of the conveying belt for conveying the solar energy substrate. The two clamping arms 55 are arranged symmetrically along the central axis of the conveying mechanism 2 for conveying the sheet material.

[0074] The edge-finding sensor units 59 can be used to detect whether the solar energy substrate is not aligned or has a deviation or has an inclined edge. When both of the edge-finding sensor units 59 detect the solar energy substrate, it indicates that the edge of the solar energy substrate is aligned. When only one of the edge-finding sensor units 39 detects the solar energy substrate, it indicates that the position of the solar energy substrate has a deviation and has an inclined edge, and the alignment is not uniform. At this time, an alarm is given.

[0075] As shown in FIG. 6, the edge-finding sensor units 59 are arranged on the front and rear sides of the clamping arm 55. Figure 11As shown, the material buffering mechanism 6 includes a buffering support 61, a buffering material frame 62, a buffering Z-axis lifting module 63, and a buffering section conveying line 64. The buffering Z-axis lifting module 63 is connected to the buffering support 61, and the buffering material frame 62 is slidingly connected to the buffering Z-axis lifting module 63. The inner cavity side wall of the buffering material frame 62 is provided with a plurality of convex teeth for placing solar substrates. The buffering material frame is sleeved on the buffering section conveying line 64 and is lifted relative to the buffering section conveying line 64.

[0076] The material buffering mechanism 6 can be installed on the feeding flow line for feeding buffering or installed on the discharging flow line for discharging buffering.

[0077] When the solar substrates need to be buffered, the buffering Z-axis lifting module 63 drives the buffering material frame 62 to rise, so as to buffer the excess solar substrates on the flow line on the buffering material frame 62. When the solar substrates need to be released, the buffering Z-axis lifting module 63 drives the buffering material frame 62 to descend, so as to release the solar substrates on the buffering section conveying line 64. Similarly, when the flower basket needs to be replaced, the buffered solar substrates are released to supplement the materials on the feeding flow line. When the flower basket needs to be replaced, the solar substrates are buffered on the buffering material frame 62, and then the solar substrates are released to the discharging flow line after the empty flower basket is replaced.

[0078] As shown in Figure 12 and Figure 13 The material carrying mechanism 7 includes a carrying support 71, a material carrying module 72, a suction cup support 73, a material suction cup 74, and a suction cup leveling assembly 75. The material carrying module 72 is connected to the carrying support 71, the suction cup support 73 is slidingly connected to the material carrying module 72, the suction cup support 73 is connected to at least one material suction cup 74, and one end of the suction cup leveling assembly 75 is fixed to the suction cup support 73 and the other end of the suction cup leveling assembly 75 is abutted on the material suction cup 74 to adjust the angle of the material suction cup 74.

[0079] The material carrying module 72 includes a carrying linear motor 721 and a carrying sliding block 722. The carrying linear motor 721 is installed on the carrying support 71, and the suction cup support 73 is installed on the carrying sliding block 722. The carrying linear motor 721 can drive a plurality of material suction cups 74 to feed between the conveying mechanism 2 and the double-station carrying platform 8. The suction cup support 73 can also be provided with a vacuum gauge 76 to monitor the vacuum degree of the material suction cup 74 in real time.

[0080] As shown in Figure 14As shown, the suction cup leveling assembly 75 includes a leveling nut 751, a leveling top screw 752, and a leveling fixed plate 753. The leveling nut 751 is fixedly connected to the leveling fixed plate 753, and the leveling top screw 752 is threadedly connected to the leveling nut 751. The top head 756 of the leveling top screw 752 penetrates through the leveling fixed plate 753 and is in contact with the top of the material suction cup 74. By rotating the leveling top screw 752, the leveling top screw 752 will move up and down along the thread on the leveling nut 751 to adjust the depth of the material suction cup 74, thereby achieving the effect of leveling the material suction cup 74. In actual application, multiple leveling top screws 752 can be used to uniformly press multiple parts of the material suction cup 74, which can conveniently and quickly level the material suction cup 74 from multiple angles.

[0081] The leveling top screw 752 is provided with a rotating groove 754 for connecting a wrench. During the leveling operation, the wrench or other tool is inserted into the rotating groove 754 to rotate the leveling top screw 752 to adjust the position relative to the leveling nut 751. The leveling operation is simple and convenient.

[0082] The suction cup leveling assembly 75 further includes a tension screw 755 which is threadedly connected to the side of the leveling nut 751. When tightened, the tension screw 755 presses against the side of the leveling top screw 752. After adjusting the position of each leveling top screw 752 relative to the leveling nut 751 to level the entire material suction cup 74, the position of the leveling top screw 752 is fixed by tightening the tension screw 755 to prevent the leveling top screw 752 from loosening during the movement of the material suction cup module 3, which may cause the grabbing angle of the material suction cup 74 to deviate and fail to accurately grab the material.

[0083] When it is necessary to transport the raw material of the solar substrate, the transporting linear motor 721 of the raw material end material transporting module 72 moves the material suction cup 74 to the feeding line through the transporting slider 722. A single material suction cup 74 is vacuumized to generate suction force to suck a single solar substrate. At the same time, the vacuum table 76 displays the vacuum data of the material suction cup 74 at this time. The vacuum data is used to confirm whether the material suction cup 74 has sucked the material. If not, an alarm will be prompted. If yes, the transporting linear motor 721 moves the material suction cup 74 module to the double-station transporting platform 8, stops vacuumizing the material suction cup 74, and makes the solar substrate separate, which is placed on the corresponding jig of the double-station transporting platform 8.

[0084] When it is needed to unload the solar substrate calcine, the material carrying linear motor 721 of the calcine end material carrying mechanism 5 moves the material suction cup 74 to the double-station carrying platform 8, and the material suction cup 74 is vacuumized to generate suction force to suck the single solar substrate, and the vacuum table 76 displays the vacuum data of the material suction cup 74 at this time, and whether the material suction cup 74 sucks the material well is confirmed through the vacuum data, and if not, an alarm is prompted, and if yes, the material carrying linear motor 721 moves the material suction cup 74 to the unloading assembly line, and the vacuum of the material suction cup 74 is stopped to make the solar substrate separate.

[0085] As shown in Figure 15 , the double-station carrying platform 8 comprises a double-mover transfer module 81, a carrying jig 82 for placing the solar substrate, and a mover sliding block 83, two groups of mover sliding blocks 83 are slidably connected to the double-mover transfer module 81, and the carrying jig 82 is connected to the mover sliding block 83. The double-mover transfer module 81 drives the carrying jig 82 to move between the feeding station, the discharging station and the laser processing station through the mover sliding block 83.

[0086] The double-station carrying platform 8 is provided with two groups of mover sliding blocks 83 corresponding to two feeding and discharging assembly lines, and the double-mover transfer module 81 drives one group of mover sliding blocks 83 to move between the feeding station, the discharging station and the laser processing station, and the two groups of mover sliding blocks 83 work alternately to realize efficient feeding and processing of the solar substrate. A plurality of carrying jigs 82 can be arranged on each mover sliding block 83, and each carrying jig 82 is used to place a piece of solar substrate, and each carrying jig 82 corresponds to a laser processing head. According to the number of laser processing heads, a plurality of double-station carrying platforms 8 can be arranged to correspond to a plurality of laser processing heads, and the material carrying mechanism 5 alternately feeds and discharges the plurality of double-station carrying platforms 8.

[0087] The visual positioning mechanism 91 comprises a visual positioning bracket 911 and a visual positioning camera 912 for positioning the solar substrate to be processed, and the visual positioning bracket 911 is installed above the laser processing station of the double-station carrying platform 8, and the visual positioning camera 912 is connected to the visual positioning bracket 911 and is aligned with the double-station carrying platform 8.

[0088] As shown in Figure 16 , the double-station carrying platform 8 further comprises a backlight light source 84 for cooperating with the focusing visual positioning camera 912 to take pictures, and the two top corners of the carrying jig 82 are provided with light transmission holes 85, and the backlight light source 84 is located below the light transmission holes 85. Before the solar substrate on the carrying jig 82 is sent below the laser processing station, the visual positioning camera 912 positions the position of the solar substrate through the backlight light source 84 at the light transmission holes 85 of the carrying jig 82, so that the laser processing mechanism 92 can accurately process on the surface of the solar substrate through positioning.

[0089] like Figure 17 As shown, the transport fixture 82 includes a fixture plate 821, a leveling support plate 822, an adjusting screw 823, an adjusting outer nut 824, an adjusting knob 825, and a locking bolt 826. The leveling support plate 822 is mounted on the movable slider. The fixture plate 821 is connected to the leveling support plate 822. The leveling support plate 822 has leveling holes. The adjusting outer nut 824 is fixed in the leveling holes. One end of the adjusting screw 823 passes through the adjusting outer nut 824 and pushes against the fixture plate 821. The adjusting screw 823 and the adjusting outer nut 824 are connected by threads. The other end of the adjusting screw 823 is connected to the adjusting knob 825. The locking bolt 826 is connected to the bottom of the adjusting knob 825. The adjusting screw 823, the adjusting outer nut 824, the adjusting knob 825, and the locking bolt 826 together constitute the intuitive leveling assembly 827.

[0090] Adjusting knob 825 rotates adjusting screw 823 relative to adjusting nut 824. Through a threaded connection, adjusting screw 823 is raised or lowered, controlling the lifting height of fixture plate 821. After adjustment, locking bolt 826 secures knob 825 to prevent loosening and movement of adjusting screw 823, thus preventing tilting of fixture plate 821. Locking bolt 826, tightened from the center, prevents minor misalignment and allows for 0.01mm flatness adjustment. The leveling structure allows changing the position of fixture plate 821 relative to leveling support plate 32. If fixture plate 821 is found to be uneven before or during processing, the machine can be stopped, and the leveling structure manually adjusted to a horizontal position to ensure the accuracy of subsequent laser processing.

[0091] like Figure 18 As shown, the NG receiving mechanism 93 includes a receiving bracket 931, a receiving and conveying module 932, a receiving suction cup 933, and a receiving fixture 934. The receiving and conveying module 932 is mounted on the receiving bracket 931, the receiving suction cup 933 is slidably connected to the receiving and conveying module 932, and the receiving fixture 934 is located on one side of the unloading production line. The receiving and conveying module 932 drives the receiving suction cup 933 to move between the unloading production line and the receiving fixture 934.

[0092] The inspection mechanism 94 includes an inspection bracket 941 and an inspection camera 942 for detecting whether there are fragments or microcracks in the solar substrate. The inspection bracket 941 is mounted horizontally above the loading and unloading production lines. Multiple inspection cameras 942 are connected to the inspection bracket 941 and are aimed at the solar substrates on the loading or unloading production lines. The inspection cameras 942 are CCD cameras.

[0093] The detection camera 942 takes real-time photos of the solar substrate passing through the pipeline and feeds back the detection. If the solar substrate is normal and has no defects, the solar substrate is normally fed or discharged. If a defective solar substrate is detected, the collection and conveying module 932 drives the collection suction cup 933 to pick up the defective solar substrate on the pipeline and place it on the collection jig 934 for NG material processing.

[0094] The application also provides a solar substrate automatic feeding and discharging processing method, which is based on the solar substrate automatic feeding and discharging processing equipment and includes the following processes:

[0095] S1. Basket feeding process: the AGV transports the basket filled with solar substrate raw materials to the basket feeding module 21, the general-speed feeding section 212 of the basket feeding conveying line 211 receives the basket, the basket in front is sent to the acceleration feeding section 213 to the feeding horizontal conveying module 231, and the feeding blocking cylinder 214 blocks the basket behind the general-speed feeding section 212, and then the feeding horizontal conveying module 231 sends the basket to the basket lifting feeding mechanism 31, and then returns and receives the next basket;

[0096] S2. The basket lifting feeding mechanism 31 fixes the basket, and the telescopic conveying mechanism 4 receives the solar substrate in the basket. When a piece of solar substrate is taken out, the basket lifting feeding mechanism 31 drives the basket to descend to make the next piece of solar substrate butt against the telescopic conveying mechanism 4;

[0097] S3. The material alignment mechanism 5 centrally aligns the solar substrate on the feeding pipeline;

[0098] S4. The detection mechanism 94 detects defects of the solar substrate raw material. When a defective solar substrate is detected, the NG collection mechanism 933 takes away the solar substrate;

[0099] S5. The material buffering mechanism 6 on the feeding pipeline includes the following sub-steps:

[0100] If the materials in front of the feeding pipeline are accumulated, the material buffering mechanism 6 buffers the solar substrate raw material;

[0101] If the materials in front of the feeding pipeline are insufficient, the material buffering mechanism 6 releases the buffered solar substrate raw material;

[0102] If the materials in front of the feeding pipeline are neither accumulated nor insufficient, the material buffering mechanism 6 does not act;

[0103] S6. The material conveying mechanism 7 picks up the solar substrate raw material on the feeding pipeline and transfers it to the conveying jig on the double-station conveying platform 8 at the feeding station;

[0104] S7. The double-station carrying platform 8 performs the following sub-steps:

[0105] If there is no other solar substrate being processed in the laser processing station, the carrying fixture 82 is driven to move to the laser processing station, and after initial positioning by the visual positioning mechanism 91, the laser processing mechanism 92 performs laser processing on the solar substrate; after processing, the carrying fixture 82 is driven to move to the discharging station, and after the material carrying mechanism 7 of the discharging line takes away the solar substrate clinker, the carrying fixture 82 is driven back to the feeding station to wait for the feeding of the next batch of solar substrates;

[0106] If there is another solar substrate being processed in the laser processing station, the carrying fixture 82 is not driven to move, and waits for the laser processing station to be idle before performing the action;

[0107] S8. The material carrying mechanism 7 takes the solar substrate clinker from the discharging station of the double-station carrying platform 8 and transfers it to the discharging line;

[0108] S9. The material buffer mechanism 6 of the discharging line performs the following sub-steps:

[0109] If the material in front of the discharging line is accumulated, the material buffer mechanism 6 buffers the solar substrate clinker;

[0110] If the material in front of the discharging line is insufficient, the material buffer mechanism 6 releases the buffered solar substrate clinker;

[0111] If the material in front of the discharging line is neither accumulated nor insufficient, the material buffer mechanism 6 does not move;

[0112] S10. The detection mechanism 94 detects defects in the solar substrate clinker, and when a defective solar substrate is detected, the NG material receiving mechanism 933 takes it away;

[0113] S11. The material alignment mechanism 5 centers and aligns the solar substrates on the discharging line;

[0114] S12. The telescopic conveying mechanism 4 sequentially feeds the solar substrate clinker into the empty flower basket, and when a solar substrate is placed, the flower basket lifting and discharging mechanism 32 lifts the flower basket to make the next empty slot interface with the telescopic conveying mechanism 4;

[0115] S13. When the flower basket is full of solar substrate clinker, the flower basket lifting and discharging mechanism 32 sends the flower basket to the discharging horizontal carrying module 232, and then transports the flower basket to a group of flower basket discharging conveying lines 221 of the flower basket discharging module 22, and when the flower basket discharging conveying lines 221 are full of flower baskets, the AGV interfaces with the flower basket discharging module 22 and takes away the flower baskets.

[0116] The device of the present application is mainly used for Topcon solar laser doping process to improve the conversion rate of solar energy. The whole machine is mainly composed of a flower basket feeding and discharging machine 11 and a laser processing main machine 12 in series. The flower basket feeding and discharging machine 11 is automatically connected with AGV, and AGV can bring or send away 10 flower baskets at a time, realizes the functions of conveying raw material flower baskets and taking away cooked material flower baskets, unmanned transportation, and improves the efficiency and intelligence; the laser processing main machine adopts double channels and four lasers, two lasers for each channel, one feeding assembly line and one receiving assembly line for each channel, and two products are simultaneously transported or processed at a time, one side is processed, and the other side is fed at the same time, so that the efficiency output of single channel is doubled; the dust collector 13 is mainly used for dust adsorption in the laser processing process, and the water cooler 14 realizes the cooling effect during the working of the laser.

[0117] The above is a further detailed description of the present application in combination with specific preferred embodiments, and the specific implementation of the present application cannot be limited to these descriptions. For ordinary skilled persons in the technical field to which the present application belongs, some simple deductions or substitutions can be made without departing from the concept of the present application, and all of them should be regarded as falling within the protection scope of the present application.

Claims

1. An automatic loading and unloading processing equipment for solar substrates, characterized in that, The system includes a flower basket loading and unloading machine and a laser processing main unit. The flower basket loading and unloading machine includes a flower basket feeding module, a flower basket discharging module, a feeding lateral conveying module, and a discharging lateral conveying module. The laser processing main unit includes a flower basket lifting and loading mechanism, a flower basket lifting and unloading mechanism, a telescopic conveying mechanism, a material alignment mechanism, a material buffering mechanism, a material handling mechanism, a dual-station handling platform, a vision positioning mechanism, a laser processing mechanism, an NG receiving mechanism, and a detection mechanism. The dual-station handling platform has a laser processing station, a loading station, and an unloading station. The vision positioning mechanism and the laser processing mechanism are located on the dual-station handling platform. Above the laser processing station of the transport platform, the basket feeding module, the feeding lateral conveying module, the basket lifting and loading mechanism, the telescopic conveying mechanism, the material alignment mechanism, the detection mechanism, the NG receiving mechanism, the material buffering mechanism, the material handling mechanism, and the loading station of the dual-station transport platform are sequentially connected to form a loading production line. The unloading station of the dual-station transport platform, the material handling mechanism, the material buffering mechanism, the detection mechanism, the NG receiving mechanism, the material alignment mechanism, the telescopic conveying mechanism, the basket lifting and unloading mechanism, the unloading lateral conveying module, and the basket unloading module are sequentially connected to form an unloading production line. The dual-station transport platform includes a dual-moving-element transfer module, a transport fixture for placing solar substrates, and moving-element sliders. Two sets of moving-element sliders are slidably connected to the dual-moving-element transfer module. The transport fixture is connected to the moving-element sliders. The dual-moving-element transfer module drives the transport fixture to move between the loading station, unloading station, and laser processing station through the moving-element sliders. The transport fixture includes a fixture plate, a leveling support plate, an adjusting screw, an adjusting outer nut, an adjusting knob, and a locking bolt. The leveling support plate is mounted on the moving slider, and the fixture plate is connected to the leveling support plate. The leveling support plate has leveling holes, and the adjusting outer nut is fixed in the leveling holes. One end of the adjusting screw passes through the adjusting outer nut and pushes against the fixture plate. The adjusting screw and the adjusting outer nut are connected by threads. The other end of the adjusting screw is connected to the adjusting knob, and the locking bolt is connected to the bottom of the adjusting knob.

2. The automatic loading and unloading processing equipment for solar substrates according to claim 1, characterized in that, Each of the flower basket feeding modules includes multiple sets of flower basket feeding conveyor lines arranged side by side, and each of the flower basket discharging modules includes multiple sets of flower basket discharging conveyor lines arranged side by side. The flower basket feeding conveyor lines include a normal speed feeding section and an accelerated feeding section. The normal speed feeding section is connected to the accelerated feeding section. The feeding lateral transport module is connected to the accelerated feeding section of the multiple sets of flower basket feeding conveyor lines, and the discharging lateral transport module is connected to the multiple sets of flower basket discharging conveyor lines. A feeding blocking cylinder is provided at the end of the feeding direction of the normal speed feeding section.

3. The automatic loading and unloading processing equipment for solar substrates according to claim 1, characterized in that, The feeding lateral conveying module and the discharging lateral conveying module are two lateral conveying modules arranged in the loading and unloading directions of the flower baskets. The lateral conveying module includes a lateral straight module, a lateral conveying slider, a lateral conveying conveyor belt, and a lateral conveying blocking cylinder. The lateral straight module spans multiple sets of flower basket feeding conveyor lines or multiple sets of flower basket discharging conveyor lines. The lateral conveying slider is slidably connected to the lateral straight module. The lateral conveying conveyor belt is connected to the lateral conveying slider. When the lateral straight module drives the lateral conveying slider to one of the flower basket feeding conveyor lines or flower basket discharging conveyor lines, the lateral conveying conveyor belt docks with the flower basket feeding line or flower basket discharging line. The lateral conveying blocking cylinder is connected to the lateral conveying slider and blocks the flower basket located on the lateral conveying conveyor belt.

4. The automatic loading and unloading processing equipment for solar substrates according to claim 1, characterized in that, The dual-station transport platform also includes a backlight source for image acquisition in conjunction with the visual positioning mechanism. A light-transmitting hole is provided at the top corner of the transport fixture, and the backlight source is located below the light-transmitting hole.

5. The automatic loading and unloading processing equipment for solar substrates according to claim 1, characterized in that, The material handling mechanism includes a handling bracket, a material handling module, a suction cup bracket, a material suction cup, and a suction cup leveling component. The material handling module is connected to the handling bracket, and the suction cup bracket is slidably connected to the material handling module. The suction cup bracket is connected to at least one material suction cup. One end of the suction cup leveling component is fixed to the suction cup bracket, and the other end rests on the material suction cup to adjust the angle of the material suction cup.

6. The automatic loading and unloading processing equipment for solar substrates according to claim 1, characterized in that, The NG receiving mechanism includes a receiving bracket, a receiving and handling module, a receiving suction cup, and a receiving fixture. The receiving and handling module is mounted on the receiving bracket, and the receiving suction cup is slidably connected to the receiving and handling module. The receiving fixture is located on one side of the unloading production line. The receiving and handling module drives the receiving suction cup to move between the unloading production line and the receiving fixture. The inspection mechanism includes an inspection bracket and an inspection camera for detecting whether there are broken pieces or microcracks in the solar substrate. The inspection bracket is mounted horizontally above the loading and unloading production lines, and multiple inspection cameras are connected to the inspection bracket.

7. The automatic loading and unloading processing equipment for solar substrates according to claim 1, characterized in that, The visual positioning mechanism includes a visual positioning bracket and a visual positioning camera for positioning the solar substrate to be processed. The visual positioning bracket is installed above the laser processing station of the dual-station transport platform, and the visual positioning camera is connected to the visual positioning bracket and aligned with the dual-station transport platform.

8. A method for automatically loading and unloading solar substrates, characterized in that, The following process is performed using the automatic loading and unloading processing equipment for solar substrates according to any one of claims 1 to 7: S1. Flower basket loading process: The AGV transports the flower basket filled with solar substrate raw materials to the flower basket feeding module. The normal speed feeding section of the flower basket feeding conveyor takes the flower basket, and the flower basket in front enters the accelerated feeding section and is sent to the feeding lateral transport module. At the same time, the feeding blocking cylinder blocks the flower basket behind the normal speed feeding section. The feeding lateral transport module sends the flower basket to the flower basket lifting and loading mechanism, then returns to its original position and receives the next flower basket. S2. The flower basket lifting and feeding mechanism fixes the flower basket, and the telescopic conveying mechanism receives the solar panel inside the flower basket. When a solar panel is taken out, the flower basket lifting and feeding mechanism drives the flower basket to descend so that the next solar panel can be connected to the telescopic conveying mechanism. S3. The material alignment mechanism centers and aligns the solar substrates of the feeding line. S4. The inspection agency conducts defect inspection on the raw solar substrate. When a defective solar substrate is detected, the NG receiving agency takes away the solar substrate. S5. The material buffering mechanism of the feeding line performs the following sub-steps: If materials accumulate in front of the feeding line, the material buffering mechanism will buffer the raw solar substrate materials. If there is a shortage of material in front of the feeding line, the material buffering mechanism will release the buffered solar substrate raw material; If the material in front of the feeding line is neither piling up nor lacking, the material buffer mechanism will not operate. S6. The material handling mechanism grabs the solar substrate raw material from the feeding line and transfers it to the handling fixture located on the dual-station handling platform at the feeding station. S7. The dual-station handling platform performs the following sub-steps: If there are no other solar substrates being processed at the laser processing station, the drive transport fixture moves to the laser processing station. After initial positioning by the vision positioning mechanism, the laser processing mechanism performs laser processing on the solar substrate. After processing, the drive transport fixture moves to the unloading station. After the material handling mechanism of the unloading line takes away the solar substrate blank, the drive transport fixture returns to the loading station to wait for the loading of the next batch of solar substrates. If other solar panels are being processed at the laser processing station, the transport fixture will not be driven to perform any actions; the actions will be performed only when the laser processing station is idle. S8. The material handling mechanism picks up the solar substrate raw material from the unloading station of the dual-station handling platform and transfers it to the unloading assembly line; S9. The material buffering mechanism of the unloading line performs the following sub-steps: If materials accumulate in front of the feeding line, the material buffering mechanism will buffer the solar substrate clinker. If there is a shortage of material in front of the feeding line, the material buffering mechanism will release the buffered solar substrate clinker. If there is neither an accumulation of material nor a shortage of material in front of the feeding line, the material buffer mechanism will not operate. S10. The inspection agency performs defect inspection on the solar substrate clinker. When a defective solar substrate is detected, the NG receiving agency takes away the solar substrate. S11. The material alignment mechanism centers and aligns the solar substrates of the unloading line. S12. The telescopic conveyor mechanism sequentially feeds the solar substrate into the empty basket. When a solar substrate is placed in, the basket lifting and unloading mechanism drives the basket to rise so that the next empty slot can be connected to the telescopic conveyor mechanism. S13. When the flower basket is filled with solar substrate clinker, the flower basket lifting and unloading mechanism sends the flower basket to the discharge horizontal conveying module, and then the flower basket is transported to a set of flower basket discharge conveyor lines of the flower basket discharge module. When multiple sets of flower basket discharge conveyor lines are full of flower baskets, the AGV docks with the flower basket discharge module and takes away the flower basket.

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