A new positioning and curing production line

Abstract

The application belongs to the technical field of photovoltaic automation, and discloses a novel positioning and curing production line. The novel positioning and curing production line comprises a robot pre-positioning and curing warehouse and a stereoscopic positioning warehouse which are arranged adjacently, and the robot pre-positioning and curing warehouse is connected with the stereoscopic positioning warehouse. One side of the robot pre-positioning and curing warehouse is connected with a crystal bar conveying line, and the other side is provided with a crystal holder conveying line and a viscose plate conveying line. The novel positioning and curing production line realizes automatic production, greatly saves production time and labor cost, and has high stability and high production efficiency.

Description

A new type of positioning and curing production line Technical Field

[0001] This invention belongs to the field of photovoltaic automation technology, and it relates to a novel positioning and curing production line. Background Technology

[0002] In the photovoltaic industry, crystal ingots need to be sliced, requiring crystal holders and adhesive plates as tooling to bond the ingots. This process is called adhesive bonding. To automate the adhesive bonding process, there are generally two production lines. One is step-by-step curing. In this method, the crystal holder and adhesive plate are bonded first, and the two are aligned using an adhesive plate clamp. After waiting 30 minutes, the adhesive initially solidifies, and then the adhesive plate clamp is removed. After applying adhesive to the upper surface of the adhesive plate, the crystal ingot is placed on the adhesive plate, and then the crystal ingot clamp is placed on top, and it is left to stand for another 30 minutes. At this point, the adhesive under the crystal ingot has initially solidified. The crystal ingot clamp is then removed, and the crystal holder, its adhesive plate, and the crystal ingot are placed in a flat storage area and left to stand for another 2.5 hours to completely cure the adhesive. The second method is three-in-one curing. This method involves applying adhesive to the upper surfaces of the crystal tray and adhesive plate, then placing the crystal tray, adhesive plate, and crystal rod into a three-in-one centering device from bottom to top for alignment. A three-in-one pressure block is then placed on top, and the assembly is placed in a flat storage chamber via a gantry for 30 minutes of uniform settling. At this point, the adhesive between the three components has initially cured. The three-in-one pressure block is then removed, and the assembly is left to stand for another 2.5 hours to completely cure the adhesive. Traditional adhesive production lines primarily use flat storage chambers for curing, which requires a large area and is unsuitable for use in confined spaces. Furthermore, the positioning during curing via the pressure block can cause slippage of the adhesive plate and crystal rod due to adhesive flow, significantly affecting the alignment accuracy. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the above-mentioned background technology and provide a new type of positioning and curing production line that realizes automated production, greatly saves production time and labor costs, and has high stability and high production efficiency.

[0004] The technical solution adopted by the present invention to solve its technical problem is: a new type of positioning and curing production line, including a robot pre-static curing chamber and a three-dimensional static chamber arranged adjacent to each other, the robot pre-static curing chamber and the three-dimensional static chamber are connected; one side of the robot pre-static curing chamber is connected to the crystal rod conveying line, and the other side is provided with a crystal tray conveying line and an adhesive board conveying line.

[0005] The crystal tray conveyor line includes a crystal tray conveyor roller, a crystal tray flipping device, a crystal tray cleaning, wiping and drying device, and a crystal tray NG trolley. The crystal tray flipping device, the crystal tray cleaning, wiping and drying device, and the crystal tray adhesive applicator are sequentially arranged on the crystal tray conveyor roller. The crystal tray NG trolley is located on the outer side of the end of the crystal tray cleaning, wiping and drying device. The crystal tray cleaning, wiping and drying device is equipped with a crystal tray temperature sensor. An adhesive board online robot A is located adjacent to the end of the crystal tray adhesive applicator. The crystal tray conveyor roller, the crystal tray flipping device, the crystal tray cleaning, wiping and drying device, the crystal tray NG trolley, the crystal tray adhesive applicator, and the adhesive board online robot A are all existing technologies or commercially available products, and are not specifically limited, as long as their working functions are achieved. The crystal tray flipping device preferably conforms to the structure of patent CN202222788102.7.

[0006] The adhesive board conveyor line is located on one side of the crystal tray conveyor line. The adhesive board conveyor line includes a left adhesive board loading and cleaning device, a right adhesive board loading and cleaning device, an adhesive board loading robot B, an adhesive board NG (Not Detectable) frame A, an adhesive board conveying roller conveyor, an adhesive board glue applicator, and the adhesive board NG frame B. The first ends of the left and right adhesive board loading and cleaning devices and the adhesive board conveying roller conveyor are located within the lifting range of the adhesive board loading robot B. An adhesive board glue applicator is installed on the adhesive board conveying roller conveyor. The adhesive board NG frame A is located at the first end of the adhesive board conveying roller conveyor, and the adhesive board NG frame B is located at the end of the adhesive board conveying roller conveyor. The left and right adhesive board loading and cleaning devices, the adhesive board loading robot B, the adhesive board NG frame A, the adhesive board conveying roller conveyor, the adhesive board glue applicator, and the adhesive board NG frame B are all existing technologies or commercially available products, and are not specifically limited; their functionalities are sufficient. The left adhesive plate loading and cleaning device and the right adhesive plate loading and cleaning device preferably adopt the structure of patent CN202222788492.8.

[0007] The system includes a left adhesive board loading and cleaning device and a right adhesive board loading and cleaning device arranged in a U-shape. The right adhesive board loading and cleaning device comprises a feeding hopper A, a cleaning device A, a feeding device A, and an adhesive board temperature measuring device A, which are connected sequentially. The left adhesive board loading and cleaning device comprises a feeding hopper B, a cleaning device B, a feeding device B, and an adhesive board temperature measuring device B, which are also connected sequentially. The feeding hopper A, cleaning device A, and feeding device A are not specifically limited, as long as they fulfill their functional requirements. The adhesive board temperature measuring device A is a temperature sensor.

[0008] The ingot conveying line includes an ingot conveying plate chain roller conveyor, an ingot size detection and flipping device, an ingot scanning device, a microwave heating device, an ingot splicing device, an ingot NG trolley, and an ingot NG suspension arm. These components are connected sequentially. A temperature sensor is installed at the end of the microwave heating device. The ingot NG trolley is located on one side of the splicing device, and an ingot NG suspension arm is located on the adjacent side of the ingot NG trolley. The ingot conveying plate chain roller conveyor, ingot size detection and flipping device, ingot scanning device, microwave heating device, splicing device, ingot NG trolley, ingot NG suspension arm, and splicing canvas roller conveyor are all existing technologies and are not specifically limited; their functionalities are sufficient. The preferred structure for the crystal rod size detection and flipping device is the patent structure CN202222788102.7, the preferred structure for the crystal rod scanning device is the patent structure CN202220732675.5, and the preferred structure for the rod splicing device is the patent structure 2022225586534.

[0009] The wafer tray conveyor rollers pass sequentially through a wafer tray flipping device and a wafer tray cleaning, wiping, and drying device. The wafer tray flipping device flips wafer trays manually placed on it and places them onto the wafer tray conveyor rollers. The wafer tray cleaning, wiping, and drying device washes, wipes, and dries the wafer trays conveyed by the wafer tray conveyor rollers. The wafer tray cleaning, wiping, and drying device is equipped with a wafer tray temperature sensor to monitor wafer tray temperature. A wafer tray NG (not qualified) trolley is located at the outer end of the wafer tray cleaning, wiping, and drying device. Wafer trays with unacceptable temperatures detected by the wafer tray cleaning, wiping, and drying device can be lifted onto the wafer tray NG trolley by a glue-attaching robot B. A wafer tray glue applicator is located behind the wafer tray cleaning, wiping, and drying device along the material feeding direction of the wafer tray conveyor rollers. Behind the wafer tray glue applicator, a glue-attaching robot A is positioned. The glue-attaching robot A transports glue-applied sticks from the glue-attaching conveyor line to the wafer trays that have been glued by the wafer tray glue applicator conveyed by the wafer tray conveyor rollers.

[0010] The adhesive sheet conveyor line is equipped with a left adhesive sheet loading and cleaning device and a right adhesive sheet loading and cleaning device arranged in a U-shape. The right adhesive sheet loading and cleaning device stores enough adhesive sheets for one day's production, cleans them, and then sends them to feeding device A. The left adhesive sheet loading and cleaning device stores enough adhesive sheets for one day's production, cleans them, and then sends them to feeding device B. An adhesive sheet conveying roller conveyor is located at the rear end of the feeding bin A. An adhesive sheet glue applicator is located above the middle of the adhesive sheet conveying roller conveyor. Adhesive sheet defect NG rack A and adhesive sheet defect NG rack B are respectively located at the front and rear ends of the adhesive sheet conveying roller conveyor. An adhesive sheet loading robot B is located on the side between the right adhesive sheet loading and cleaning device and the adhesive sheet conveying roller conveyor. The adhesive sheet loading robot B's function is to feed adhesive sheets from feeding devices A and B to the adhesive sheet conveying roller conveyor. The adhesive board coating machine functions to apply adhesive to adhesive boards conveyed by the adhesive board conveyor rollers. The NG shelf A for defective adhesive boards is used to store adhesive boards with abnormal temperature readings. The NG shelf B for defective adhesive boards is used to store adhesive boards with coating defects.

[0011] The crystal ingot conveyor line is equipped with a crystal ingot conveyor chain roller conveyor, which functions to transport crystal ingots. A crystal ingot size detection and flipping device is located at the front end of the conveyor chain roller conveyor. Due to processing errors, the crystal ingots have a trapezoidal cross-section. The larger side of the crystal ingot is used for adhesive coating. The crystal ingot size detection and flipping device is equipped with a laser rangefinder sensor, which detects the trapezoidal cross-section information of the crystal ingot and flips the ingot, ensuring that all crystal ingots passing through this station are transported with their larger side facing down. A crystal ingot barcode scanning device is located at the rear end of the device. The barcode scanning device scans the QR code on the end face of the crystal ingot to extract its shape and length information. The crystal ingot conveyor chain roller conveyor is divided into two parts, connected by a microwave heating device. The microwave heating device heats the crystal ingots to a target temperature and measures the temperature. Crystal ingots that fail the temperature measurement are placed on a crystal ingot NG trolley via a crystal ingot NG cantilever. A crystal ingot splicing device is located at the end of the conveyor chain roller conveyor. The function of the splicing device is to assemble two short crystal rods into one long crystal rod. The function of the crystal rod conveying line is to transport crystal rods to the robot's pre-static curing chamber.

[0012] The robot pre-static curing warehouse includes several static positioning racks evenly distributed around the circumference, with a handling robot at the center. The circular warehouse area formed by the static positioning racks has channels in four directions, respectively for crystal tray / adhesive plate input roller line, crystal rod input roller line, cured material output roller line, and maintenance channel; the end of the handling robot is equipped with a multi-functional gripper.

[0013] A rod splicing device is arranged at the end of the crystal rod input roller conveyor.

[0014] Each stationary positioning rack includes a stationary fixing frame, on which three centering and curing mechanisms are installed. One centering and curing mechanism is located at the top center, and the other two centering and curing mechanisms are located at the shoulders on both sides of the stationary fixing frame. The two centering and curing mechanisms on the shoulders are not at the same height as the centering and curing mechanisms at the top. The stationary fixing frame is set on the ground.

[0015] The centering and curing mechanism includes a bottom mounting plate. From top to bottom, crystal rod centering pressure plate, adhesive plate connecting plate, and crystal holder connecting plate are sequentially arranged on both sides of the bottom mounting plate. The crystal rod centering pressure plate, adhesive plate connecting plate, and crystal holder connecting plate are slidably connected to the bottom mounting plate via sliders and linear guides, respectively. On one side of the bottom mounting plate, corresponding to the crystal rod centering pressure plate, adhesive plate connecting plate, and crystal holder connecting plate, a crystal holder centering cylinder, an adhesive plate centering cylinder, and a crystal rod centering cylinder are respectively arranged.

[0016] The adhesive plate connecting plate has adhesive plate positioning and adjustment bolts at both ends of its inner side, and the crystal support connecting plate has crystal support positioning and adjustment bolts at both ends of its inner side.

[0017] Crystal rod guide rail supports are provided at the bottom of both ends of the crystal rod centering pressure plate, and the crystal rod centering pressure plate is connected to the slider through the crystal rod guide rail supports.

[0018] Adhesive plate guide rail supports are provided at the bottom of both ends of the adhesive plate connecting plate, and the adhesive plate connecting plate is connected to the slider through the adhesive plate guide rail supports.

[0019] The bottom of both ends of the crystal tray connecting plate is provided with crystal tray guide rail supports, and the crystal tray connecting plate is connected to the slider through the crystal tray guide rail supports.

[0020] The crystal tray alignment cylinder, adhesive plate alignment cylinder, and crystal rod cylinder connecting plate are respectively connected to the bottom mounting plate via the crystal tray cylinder connecting plate, adhesive plate cylinder connecting plate, and crystal rod cylinder connecting plate.

[0021] The bottom mounting plate is fixed to the stationary mounting bracket with bolts.

[0022] The multifunctional gripper includes a gripper base plate, a robot connecting plate in the middle of the top surface of the gripper base plate, gripper cylinders at both ends of the top surface of the gripper base plate, gripper push plates on both sides of the gripper base plate, each gripper cylinder connected to the gripper push plate via a floating joint, each gripper push plate connected to the gripper at its bottom via a bracket, and the top of the gripper connected to the bottom surface of the gripper base plate via guide components to achieve movement; a sponge suction cup is provided in the middle of the bottom surface of the gripper base plate.

[0023] The multi-functional gripper connects to the end effector of the handling robot via a robot connection plate. There are two grippers: a left gripper and a right gripper; both the left and right grippers are connected to the gripper push plate via bolts.

[0024] The guiding assembly includes a gripper linear guide rail and a slider. The gripper linear guide rail is fixed to the bottom surface of the gripper base plate via a gripper guide rail support. The slider is connected to the gripper. The two grippers can slide towards each other along the gripper linear guide rail.

[0025] The sponge suction cup is connected to the gripper base plate via a suction cup bracket. The sponge suction cup is also equipped with a vacuum generator.

[0026] A buffer bracket is installed adjacent to the linear guide rail of the gripper, and a buffer is mounted on the buffer bracket. The buffer bracket is connected to the buffer via threads. The length of the buffer extending beyond the buffer bracket can be adjusted via the threads, and its function is to adjust the clamping distance between the left and right grippers. The buffer is not limited in model or form, as long as it achieves its working function.

[0027] The buffer bracket is fixed to the gripper base plate.

[0028] The handling robot includes a robot and a robot base. The robot is mounted on the robot base, which is fixed to the ground. The robot model is not limited, as long as it performs its working functions. The preferred robot model is SRA210-01 (brand: Nachi). The handling robot can use a multi-functional gripper to pick up crystal ingots conveyed on the crystal ingot input roller conveyor. After picking up materials from the stationary positioning rack, the handling robot can place them on the solidified material output roller conveyor.

[0029] The automated storage and retrieval system includes a stacker crane track, on which a stacker crane is mounted. Several storage racks are located on both sides of the stacker crane track. There are inlets between the storage racks, which are connected to the output roller conveyor for solidified materials. Both ends of the stacker crane track are equipped with outbound flipping devices. The automated storage and retrieval system is a common existing equipment and is not specifically limited.

[0030] The stacker crane is positioned on a ground rail and can move back and forth along it. A three-dimensional static storage rack is arranged on both sides of the ground rail, and can hold multiple layers of materials. The stacker crane can retrieve pre-cured material conveyed by the solidified material output roller conveyor at the inlet and place it inside the three-dimensional static storage rack. An outbound flipping device is located at both ends of the ground rail.

[0031] Furthermore, a number of three-in-one briquetting racks are set up in the circular ring formed between the handling robot and several stationary positioning racks. The number of three-in-one briquetting racks are equidistant from each other around the circumference. The number of three-in-one briquetting racks includes a three-in-one briquetting block and a briquetting block bracket; the three-in-one briquetting block is set on the briquetting block bracket.

[0032] Furthermore, there is no limit to the specific number of stationary positioning racks; they can be set according to the working conditions, with 8 being the preferred setting.

[0033] Furthermore, the multi-functional gripper is fixed to the handling robot by bolts.

[0034] Furthermore, the centering curing mechanism is fixed to the stationary mounting frame with bolts.

[0035] The splicing device is the splicing device described in patent CN202211180596.9.

[0036] The crystal tray / adhesive plate input roller conveyor is used to transport stacked crystal trays and adhesive plates coated with adhesive into the circular storage area. Its structure is a common conveyor roller conveyor in existing technology, without specific limitations, as long as its working function is achieved.

[0037] The crystal rod input roller conveyor is used to transport crystal rods into the circular storage area. Its structure is based on existing general conveyor belt lines, without specific limitations, as long as its working function is achieved.

[0038] The cured material output roller conveyor is used to transport the cured crystal rods, adhesive plates, and crystal holders out of the storage area. Its structure is a common existing conveyor roller conveyor, without specific limitations, as long as it achieves its working function.

[0039] Furthermore, neither the adhesive board temperature measuring device A nor the adhesive board temperature measuring device B is limited to any particular form, as long as their working function is achieved, and a temperature sensor is preferred.

[0040] The production line is also equipped with a PLC control system. The crystal tray conveyor line, adhesive board conveyor line, crystal rod conveyor line, robot pre-static curing warehouse, three-dimensional static warehouse, crystal tray flipping device, crystal tray cleaning, wiping and drying device, crystal tray glue coating machine, adhesive board online robot A, left adhesive board loading and cleaning device, right adhesive board loading and cleaning device, adhesive board loading robot B, adhesive board glue coating machine, crystal rod size detection and flipping device, crystal rod scanning device, microwave heating device, rod splicing device, handling robot, cured material output roller conveyor line, multi-functional gripper, stacker crane, outbound flipping device, high-pressure water nozzle, roller brush motor, warm air blower, crystal tray centering cylinder, adhesive board centering cylinder, temperature sensor, temperature measuring sensor, crystal rod centering cylinder, gripper cylinder, buffer, and vacuum generator are all connected to the PLC system, and there is no restriction on the specific model, as long as their working functions are realized.

[0041] The crystal tray conveyor line transports crystal trays via a conveyor roller conveyor. The function of this conveyor line is to transport crystal trays to the robot's pre-curing and setting warehouse. During transport, the crystal trays are flipped so that the adhesive side faces upwards, and simultaneously rinsed, wiped, and dried. Before being supplied to the robot's pre-curing and setting warehouse, the crystal tray conveyor line measures the temperature of the crystal trays. Crystal trays with unacceptable temperatures are temporarily stored on a crystal tray NG cart by the adhesive board loading robot B. Crystal trays with acceptable temperatures are transported by the conveyor roller conveyor to the crystal tray adhesive applicator for adhesive application. After adhesive application, the adhesive board is placed on the adhesive board by the adhesive board loading robot A. Finally, the crystal tray and its adhesive board are transported to the robot's pre-curing and setting warehouse.

[0042] The function of the adhesive slab conveyor line is to supply adhesive slabs to the crystal tray conveyor line. Before supplying adhesive slabs to the crystal tray conveyor line, the adhesive slab conveyor line measures the temperature. Adhesive slabs with unacceptable temperatures are temporarily stored on the adhesive slab defect NG rack A by the adhesive slab loading robot B. Adhesive slabs with acceptable temperatures are conveyed to the adhesive slab coating machine by the adhesive slab conveyor rollers. Before supplying adhesive slabs to the crystal tray conveyor line, the adhesive slab conveyor line performs an adhesive coating test. Adhesive slabs with unacceptable adhesive coating are temporarily stored on the adhesive slab defect NG rack B by the adhesive slab loading robot A. Adhesive slabs with acceptable adhesive coating are then transferred to the crystal tray conveyor line by the adhesive slab loading robot A.

[0043] The technical process involves applying adhesive to the crystal ingot, adhesive plate, and crystal holder, then sequentially placing them into a centering and curing mechanism for stacking. A pressure block is then placed on top, and the centering and curing mechanism centers the crystal ingot, adhesive plate, and crystal holder for 30 minutes until the adhesive has initially cured. After initial curing, the crystal ingot is transferred to a three-dimensional settling chamber for further curing.

[0044] The handling robot uses a multi-functional gripper to pick up materials from the stationary positioning rack and place them on the solidified material output roller conveyor. The robot's pre-stationary curing silo functions to align crystal rods, adhesive plates, and crystal trays, press them onto a three-in-one pressing block, and hold for 30 minutes to allow the adhesive between the materials to initially solidify. The initially solidified material is then transported to the automated stationary silo. After the pre-cured material is stationary in the automated stationary silo rack for 2.5 hours, the adhesive within it is completely solidified. The stacker crane removes the completely solidified material from the automated stationary silo rack and sends it to an outbound flipping device for vertical flipping, before workers deliver it to the next process. The automated stationary silo functions to allow the pre-cured material to stand for 2.5 hours until the adhesive is completely solidified, then sends the material to the outbound flipping device for vertical flipping, awaiting manual removal.

[0045] The beneficial effects of this invention compared to the prior art are:

[0046] The present invention provides a novel positioning and curing production line that solves the problems of long adhesive curing time, material transfer after alignment, low precision after bonding, and large footprint in the prior art. At the same time, it speeds up the production cycle, enabling the adhesive production line to better realize industrial automation and meet the high efficiency and stability required for industrial production.

[0047] The present invention provides a novel positioning and curing production line, which can greatly improve the centering accuracy of materials after adhesive bonding and reduce the centering error caused during transportation and static placement.

[0048] The present invention provides a novel positioning and curing production line that can realize the automated production of crystal rods, adhesive boards and crystal trays, avoid manual intervention, improve the automation level of the production line and greatly improve production efficiency.

[0049] The present invention provides a novel positioning and curing production line that can avoid human error caused by manual intervention and improve the yield rate.

[0050] The present invention provides a novel positioning and curing production line. By changing the curing process, the three-dimensional warehouse can be used as a storage warehouse, which improves the space utilization rate compared to the flat warehouse.

[0051] The present invention provides a novel positioning and curing production line with high stability, long service life, and is suitable for industrial batch use. Attached Figure Description

[0052] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0053] Figure 1 is a schematic diagram of a novel positioning and curing production line according to the present invention.

[0054] Figure 2 is a schematic diagram of the crystal carrier transport line.

[0055] Figure 3 is a schematic diagram of the adhesive board conveyor line.

[0056] Figure 4 is a schematic diagram of the crystal rod transport line.

[0057] Figure 5 is a schematic diagram of the robot pre-static curing chamber.

[0058] Figure 6 is a schematic diagram of a three-dimensional static storage warehouse.

[0059] Figure 7 is a schematic diagram of the placement of the pressure block.

[0060] Figure 8 is a schematic diagram of the cleaning device for the right adhesive plate.

[0061] Figure 9 is a schematic diagram of the cleaning device for the left adhesive plate.

[0062] Figure 10 is a schematic diagram of the crystal tray cleaning, wiping and drying device.

[0063] Figure 11 is a schematic diagram of a stationary positioning rack.

[0064] Figure 12 is a schematic diagram of the central curing mechanism.

[0065] Figure 13 is a schematic diagram of a multi-functional gripper.

[0066] Figure 14 is a schematic diagram of a transport robot.

[0067] Figure 15 is a schematic diagram of the state of the adhesive plate and crystal tray when they arrive.

[0068] Figure 16 shows the positions of the multi-functional gripper gripping the crystal tray and adhesive plate.

[0069] Figure 17 shows the placement of the multi-functional gripper on the crystal tray and adhesive plate.

[0070] Figure 18 shows the position of the multi-functional gripper when picking up the crystal rod.

[0071] Figure 19 shows the placement of the crystal rod by the multi-functional gripper.

[0072] Figure 20 shows the positions of the multi-functional gripper when gripping the crystal rod, adhesive plate, and crystal holder.

[0073] Figure 21 is a schematic diagram of the three-in-one briquetting rack.

[0074] The diagram shows: 1. Crystal tray conveyor line, 2. Adhesive board conveyor line, 3. Crystal rod conveyor line, 4. Robotic pre-setting and curing warehouse, 5. 3D setting warehouse, 6. Crystal rod, 7. Adhesive board, 8. Crystal tray, 101. Crystal tray conveyor roller conveyor, 102. Crystal tray flipping device, 103. Crystal tray cleaning, wiping and drying device, 104. Crystal tray NG trolley, 105. Crystal tray glue applicator, 106. Adhesive board online robot A, 201. Left adhesive board loading and cleaning device, 202. Right adhesive board loading and cleaning device, 203. Adhesive board loading robot B, 204. Adhesive board abnormal NG rack A, 205. Adhesive board conveyor roller conveyor, 206. Adhesive board glue applicator, 207. Adhesive board abnormal NG rack B, 301. Crystal rod conveyor plate chain roller conveyor, 302. 303. Crystal rod size detection and flipping device; 304. Crystal rod barcode scanning device; 305. Microwave heating device; 306. Rod splicing device; 307. Crystal rod NG suspension arm; 408. Crystal rod NG trolley; 409. Static positioning rack; 400. Three-in-one briquetting rack; 401. Handling robot; 402. Solidified material output roller conveyor; 403. Multifunctional gripper; 501. Stacker crane; 502. Outbound flipping device; 503. Three-dimensional static warehouse rack; 504. Stacker crane ground rail; 1031. Main frame; 1032. High-pressure water nozzle; 1033. Roller brush; 1034. Roller brush motor; 1035. Warm air nozzle; 1036. Warm air blower; 2011. Feeding bin B; 2012. Cleaning device B; 2013. Feeding device B, 2014. Adhesive plate temperature measuring device B, 2021. Feeding bin A, 2022. Cleaning device A, 2023. Feeding device A, 2024. Adhesive plate temperature measuring device A, 40101. Crystal rod centering pressure plate, 40102. Crystal rod guide rail support, 40103. Linear guide rail, 40104. Bottom mounting plate, 40105. Adhesive plate positioning adjustment bolt, 40106. Adhesive plate connecting plate, 40107. Adhesive plate guide rail support, 40108. Crystal tray positioning adjustment bolt, 40109. Crystal tray guide rail support, 40110. Crystal tray connecting plate, 40111. Crystal tray cylinder connecting plate, 40112. Crystal tray centering cylinder, 40113. Adhesive plate cylinder connecting plate, 40114. 40115. Adhesive plate centering cylinder. 40116. Crystal rod centering cylinder. 40117. Crystal rod cylinder connecting plate. 40201. Static fixing bracket. 40202. Three-in-one pressure block. 40202. Pressure block bracket. 40301. Robot. 40302. Robot base. 40501. Robot connecting plate. 40502. Gripper base plate. 40503. Gripper cylinder. 40504. Floating joint. 40505. Gripper push plate. 40506. Gripper guide rail support. 40507. Gripper linear guide rail. 40508.Left gripper, 40509. Buffer, 40510. Buffer bracket, 40511. Foam suction cup, 40512. Suction cup bracket, 40513. Right gripper. Detailed Implementation

[0075] The present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to the following embodiments. Embodiments

[0076] A novel positioning and curing production line, as shown in Figures 1-21, includes a robot pre-curing chamber 4 and a three-dimensional curing chamber 5 arranged adjacent to each other. The robot pre-curing chamber 4 is connected to the three-dimensional curing chamber 5. One side of the robot pre-curing chamber 4 is connected to the crystal rod conveying line 3, and the other side is equipped with a crystal tray conveying line 1 and an adhesive board conveying line 2.

[0077] The crystal tray conveyor line 1 includes a crystal tray conveyor roller 101, a crystal tray flipping device 102, a crystal tray cleaning, wiping and drying device 103, and a crystal tray NG carriage 104. The crystal tray conveyor roller 101 is sequentially equipped with the crystal tray flipping device 102, the crystal tray cleaning, wiping and drying device 103, and the crystal tray adhesive applicator 105. The crystal tray NG carriage 104 is located on the outer side of the end of the crystal tray cleaning, wiping and drying device 103. A crystal tray temperature sensor is installed on the crystal tray cleaning, wiping and drying device 103. An adhesive applicator robot A 106 is located adjacent to the end of the crystal tray adhesive applicator 105. The crystal tray conveyor roller 101, the crystal tray flipping device 102, the crystal tray cleaning, wiping and drying device 103, the crystal tray NG carriage 104, the crystal tray adhesive applicator 105, and the adhesive applicator robot A 106 are all existing technologies or commercially available products, and are not specifically limited; their operational functions are sufficient. The crystal tray flipping device 102 preferably adopts the structure of patent CN202222788102.7.

[0078] The adhesive board conveyor line 2 is located on one side of the crystal tray conveyor line 1. The adhesive board conveyor line 2 includes a left adhesive board loading and cleaning device 201, a right adhesive board loading and cleaning device 202, an adhesive board loading robot B 203, an adhesive board NG frame A 204, an adhesive board conveying roller 205, an adhesive board glue applicator 206, and an adhesive board NG frame B 207. The first ends of the left adhesive board loading and cleaning device 201, the right adhesive board loading and cleaning device 202, and the adhesive board conveying roller 205 are located within the lifting range of the adhesive board loading robot B 203. The adhesive board glue applicator 206 is installed on the adhesive board conveying roller 205. The adhesive board NG frame A 204 is located at the first end of the adhesive board conveying roller 205, and the adhesive board NG frame B 207 is located at the end of the adhesive board conveying roller 205. The left adhesive board loading and cleaning device 201, the right adhesive board loading and cleaning device 202, the adhesive board loading robot B 203, the adhesive board abnormality NG frame A 204, the adhesive board conveyor roller 205, the adhesive board glue applicator 206, and the adhesive board abnormality NG frame B 207 are all existing technologies or commercially available products, and are not specifically limited, as long as they achieve their working functions. Among them, the left adhesive board loading and cleaning device 201 and the right adhesive board loading and cleaning device 202 preferably have the structure of patent CN202222788492.8.

[0079] The system includes a left adhesive board loading and cleaning device 201 and a right adhesive board loading and cleaning device 202 arranged in a U-shape. The right adhesive board loading and cleaning device 202 comprises a feeding bin A 2021, a cleaning device A 2022, a feeding device A 2023, and an adhesive board temperature measuring device A 2024, which are connected sequentially. The left adhesive board loading and cleaning device 201 comprises a feeding bin B 2011, a cleaning device B 2012, a feeding device B 2013, and an adhesive board temperature measuring device B 2014, which are also connected sequentially. There are no specific restrictions on feeding bin A 2021, cleaning device A 2022, feeding device A 2023, feeding bin B 2011, cleaning device B 2012, and feeding device B 2013; they only need to achieve their working functions. Adhesive plate temperature measuring device A 2024 and adhesive plate temperature measuring device B 2014 are temperature sensors.

[0080] The ingot conveying line 3 includes an ingot conveying plate chain roller conveyor 301, an ingot size detection and flipping device 302, an ingot scanning device 303, a microwave heating device 304, an ingot splicing device 305, an ingot NG trolley 307, and an ingot NG suspension arm 306. The ingot conveying plate chain roller conveyor 301, the ingot size detection and flipping device 302, the ingot scanning device 303, the microwave heating device 304, the ingot splicing canvas roller conveyor, and the ingot splicing device 305 are connected in sequence. A temperature sensor is installed at the end of the microwave heating device 304. The ingot NG trolley 307 is located on one side of the ingot splicing device 305, and the ingot NG suspension arm 306 is located on the adjacent side of the ingot NG trolley 307. The crystal rod conveyor chain roller 301, the crystal rod size detection and flipping device 302, the crystal rod scanning device 303, the microwave heating device 304, the rod splicing device 305, the crystal rod NG trolley 307, the crystal rod NG suspension arm 306, and the rod splicing conveyor canvas roller duct are all existing technologies and are not specifically limited; their working functions are sufficient. Among them, the crystal rod size detection and flipping device 302 preferably adopts the structure of patent CN202222788102.7, the crystal rod scanning device 303 preferably adopts the structure of patent CN202220732675.5, and the rod splicing device 305 preferably adopts the structure of patent 2022225586534.

[0081] The robot pre-static curing warehouse 4 includes several static positioning racks 401 evenly distributed around the circumference, and a handling robot 403 is set at the center of the circle. The circular warehouse area formed by the several static positioning racks 401 has channels in four directions respectively, which are arranged as crystal tray / adhesive plate input roller line, crystal rod input roller line, cured material output roller line 404, and maintenance channel; the end of the handling robot 403 is equipped with a multi-functional gripper 405.

[0082] A rod splicing device 305 is arranged at the end of the crystal rod input roller conveyor.

[0083] Each stationary positioning rack 401 includes a stationary fixing frame 40117, on which three centering and curing mechanisms are provided. One centering and curing mechanism is located at the top center, and the other two centering and curing mechanisms are located at the shoulders on both sides of the stationary fixing frame 40117. The two centering and curing mechanisms on the shoulders are not at the same height as the centering and curing mechanisms at the top. The stationary fixing frame 40117 is set on the ground.

[0084] The centering and curing mechanism includes a bottom mounting plate 40104. From top to bottom, crystal rod centering pressure plate 40101, adhesive plate connecting plate 40106, and crystal holder connecting plate 40110 are sequentially arranged on both sides of the bottom mounting plate 40104. The crystal rod centering pressure plate 40101, adhesive plate connecting plate 40106, and crystal holder connecting plate 40110 are slidably connected to the bottom mounting plate 40104 via sliders and linear guide rails 40103, respectively. On one side of the bottom mounting plate 40104, corresponding to the crystal rod centering pressure plate 40101, adhesive plate connecting plate 40106, and crystal holder connecting plate 40110, a crystal holder centering cylinder 40112, an adhesive plate centering cylinder 40114, and a crystal rod centering cylinder 40115 are respectively arranged.

[0085] Adhesive plate connecting plate 40106 has adhesive plate positioning and adjusting bolts 40105 at both ends of its inner side, and crystal tray connecting plate 40110 has crystal tray positioning and adjusting bolts 40108 at both ends of its inner side.

[0086] Crystal rod centering pressure plate 40101 has crystal rod guide rail supports 40102 at both ends of its bottom. The crystal rod centering pressure plate 40101 is connected to the slider through the crystal rod guide rail supports 40102.

[0087] The adhesive plate connecting plate 40106 is provided with adhesive plate guide rail supports 40107 at both ends of the bottom, and the adhesive plate connecting plate 40106 is connected to the slider through the adhesive plate guide rail supports 40107.

[0088] The bottom of both ends of the crystal tray connecting plate 40110 is provided with crystal tray guide rail supports 40109, and the crystal tray connecting plate 40110 is connected to the slider through the crystal tray guide rail supports 40109.

[0089] The crystal tray alignment cylinder 40112, the adhesive plate alignment cylinder 40114, and the crystal rod alignment cylinder 40115 are respectively connected to the bottom mounting plate 40104 through the crystal tray cylinder connecting plate 40111, the adhesive plate cylinder connecting plate 40113, and the crystal rod cylinder connecting plate 40116.

[0090] The bottom mounting plate 40104 is fixed to the stationary mounting bracket 40117 by bolts.

[0091] The multifunctional gripper 405 includes a gripper base plate 40502, a robot connecting plate 40501 is set in the middle of the top surface of the gripper base plate 40502, gripper cylinders 40503 are respectively set at both ends of the top surface of the gripper base plate 40502, gripper push plates 40505 are set on both sides of the gripper base plate 40502, each gripper cylinder 40503 is connected to the gripper push plate 40505 through a floating joint 40504, the bottom of each gripper push plate 40505 is connected to the gripper through a bracket, and the top of the gripper is connected to the bottom surface of the gripper base plate 40502 through guide components to achieve movement; a sponge suction cup 40511 is set in the middle of the bottom surface of the gripper base plate 40502.

[0092] The multi-functional gripper 405 is connected to the end of the handling robot 403 via the robot connecting plate 40501. There are two grippers: a left gripper 40508 and a right gripper 40513; the left gripper 40508 and the right gripper 40513 are respectively connected to the gripper push plate 40505 by bolts.

[0093] The guiding assembly includes a gripper linear guide rail 40507 and a slider. The gripper linear guide rail 40507 is fixed to the bottom surface of the gripper base plate 40502 via a gripper guide rail support 40506. The slider is connected to the gripper. The two grippers can slide towards each other along the gripper linear guide rail 40507.

[0094] The sponge suction cup 40511 is connected to the gripper base plate 40502 via the suction cup bracket 40512. The sponge suction cup 40511 is also equipped with a vacuum generator.

[0095] A buffer bracket 40510 is installed adjacent to the linear guide rail 40507 of the gripper. A buffer 40509 is installed on the buffer bracket 40510, and the buffer bracket 40510 is connected to the buffer 40509 by threads. The buffer 40509 can be adjusted by extending its length out of the buffer bracket 40510 via threads, and its function is to adjust the clamping distance between the left gripper 40508 and the right gripper 40513. The model and form of the buffer 40509 are not limited, as long as it achieves its working function.

[0096] The buffer bracket 40510 is fixed on the gripper base plate 40502.

[0097] The handling robot 403 includes a robot 40301 and a robot base 40302. The robot 40301 is mounted on the robot base 40302, which is fixed to the ground. The robot 40301 is not limited to any particular model, as long as it performs its working function. The preferred model for robot 40301 is SRA210-01 (brand: Nachi). The handling robot 403 can pick up crystal rods conveyed from the crystal rod input roller conveyor using a multi-functional gripper 405. After picking up materials from the stationary positioning rack 401 using the multi-functional gripper, the handling robot 403 places them on the solidified material output roller conveyor 404.

[0098] The automated static storage silo 5 includes a stacker crane ground rail 504, on which a stacker crane 501 is installed. Several automated static storage racks 503 are arranged on both sides of the stacker crane ground rail 504. There are inlets between the automated static storage racks 503, and the inlets are connected to the solidified material output roller conveyor 404. Both ends of the stacker crane ground rail 504 are equipped with outbound flipping devices 502. The automated static storage silo is an existing general equipment and is not specifically limited.

[0099] A circular ring formed between the handling robot 403 and several stationary positioning racks 401 is provided with several three-in-one briquetting racks 402. The several three-in-one briquetting racks 402 are arranged at equal intervals around the circumference. The several three-in-one briquetting racks 402 include three-in-one briquetting blocks 40201 and briquetting brackets 40202; the three-in-one briquetting blocks 40201 are set on the briquetting brackets 40202.

[0100] The number of stationary positioning material racks 401 is not limited; it can be set according to the working conditions. It is preferred to set 8 racks.

[0101] The multi-functional gripper 405 and the handling robot 403 are fixed together by bolts.

[0102] The centering and curing mechanism is fixed to the stationary mounting bracket 40117 by bolts.

[0103] The splicing device 305 is the splicing device in patent CN202211180596.9.

[0104] The production line is also equipped with a PLC control system. The following components are included: crystal tray conveyor line 1, adhesive board conveyor line 2, crystal rod conveyor line 3, robotic pre-curing and settling chamber 4, three-dimensional settling chamber 5, crystal tray flipping device 102, crystal tray cleaning, wiping and drying device 103, crystal tray adhesive applicator 105, adhesive board loading robot A 106, left adhesive board loading and cleaning device 201, right adhesive board loading and cleaning device 202, and adhesive board loading robot B. 203. Adhesive board coating machine; 206. Crystal rod size detection and flipping device; 302. Crystal rod scanning device; 303. Microwave heating device; 304. Rod splicing device; 305. Handling robot; 403. Cured material output roller conveyor; 404. Multifunctional gripper; 405. Stacker; 501. Outbound flipping device; 502. Crystal tray centering cylinder; 40112. Adhesive board centering cylinder; 40114. Temperature sensor; Temperature measuring sensor; Crystal rod centering cylinder; 40115. Gripper cylinder; 40503. Buffer; 40509. Vacuum generator are all connected to the PLC system, and there are no restrictions on the specific model, as long as their working functions are realized.

[0105] The crystal tray cleaning, wiping and drying device 103 includes a main frame 1031, a high-pressure water nozzle 1032, a roller brush 1033, a roller brush motor 1034, a warm air nozzle 1035 and a warm air blower 1036. The high-pressure water nozzle 1032, the roller brush 1033 and the warm air nozzle 1035 are sequentially fixedly installed on the main frame 1031. The roller brush 1033 is installed at the head of the roller brush motor 1034. The warm air blower 1036 is fixedly installed at the tail of the main frame 1031. The warm air blower 1036 is connected to the warm air nozzle 1035 through a rubber hose.

[0106] Twelve linear guides 40103 are preferably provided; these twelve linear guides 40103 are arranged on the upper part of the bottom mounting plate 40104. Crystal rod guide supports 40102 are provided on the sliders of the four outermost linear guides 40103, allowing the crystal rod guide supports 40102 to slide along the linear guides 40103. A crystal rod centering pressure plate 40101 is provided on each of the two crystal rod guide supports 40102 on the same side. There are two crystal rod centering pressure plates 40101 on both the left and right sides.

[0107] The sliders of the four linear guides 40103 at the middle end are equipped with adhesive plate guide rail supports 40107.

[0108] The adhesive plate guide rail support 40107 can slide along the linear guide rail 40103. An adhesive plate connecting plate 40106 is provided on each of the two adhesive plate guide rail supports 40107 on the same side. There are two adhesive plate connecting plates 40106 on both the left and right sides. Threaded holes are provided at both ends of the adhesive plate connecting plate 40106, and adhesive plate positioning and adjusting bolts 40105 are threadedly engaged at both ends of the adhesive plate connecting plate 40106. The adhesive plate positioning and adjusting bolts 40105 can be adjusted by rotating them in both directions to adjust the distance extending beyond the adhesive plate connecting plate 40106.

[0109] The innermost four linear guide rails 40103 have crystal tray guide rail supports 40109 on their sliders.

[0110] The crystal tray guide rail support 40109 can slide along the linear guide rail 40103. A crystal tray connecting plate 40110 is provided on each of the two crystal tray guide rail supports 40109 on the same side. There are two crystal tray connecting plates 40110 on both the left and right sides. Threaded holes are provided at both ends of the crystal tray connecting plate 40110, and crystal tray positioning adjusting bolts 40108 are threadedly engaged at both ends of the crystal tray connecting plate 40110. The distance by which the crystal tray positioning adjusting bolts 40108 extend beyond the crystal tray connecting plate 40110 can be adjusted by rotating them in both directions.

[0111] A crystal tray alignment cylinder 40112 is installed at the bottom of the bottom mounting plate 40104. The crystal tray alignment cylinder 40112 is connected to the crystal tray cylinder connecting plate 40111 by bolts. The crystal tray cylinder connecting plate 40111 is connected to the crystal tray connecting plate 40110 by bolts. The crystal tray alignment cylinder 40112 can extend and retract to drive the crystal tray cylinder connecting plate 40111 and the crystal tray connecting plate 40110 to slide along the linear guide rail 40103, thereby causing the crystal tray positioning adjustment bolt 40108 to clamp or open.

[0112] The bottom mounting plate 40104 is equipped with an adhesive plate centering cylinder 40114. The adhesive plate centering cylinder 40114 is connected to the adhesive plate cylinder connecting plate 40113 by bolts. The adhesive plate cylinder connecting plate 40113 is connected to the adhesive plate connecting plate 40106 by bolts. The adhesive plate centering cylinder 40114 can extend and retract to drive the adhesive plate cylinder connecting plate 40113 and the adhesive plate connecting plate 40106 to slide along the linear guide rail 40103, thereby causing the adhesive plate positioning adjustment bolt 40105 to clamp or open.

[0113] A crystal rod alignment cylinder 40115 is installed at the bottom of the bottom mounting plate 40104. The crystal rod alignment cylinder 40115 is connected to the crystal rod cylinder connecting plate 40116 by bolts. The crystal rod cylinder connecting plate 40116 is connected to the crystal rod alignment pressure plate 40101 by bolts. The crystal rod alignment cylinder 40115 can slide along the linear guide rail 40103 by extending and retracting, thereby driving the crystal rod cylinder connecting plate 40116 and the crystal rod alignment pressure plate 40101.

[0114] Crystal tray conveyor line 1, adhesive board conveyor line 2, and crystal rod conveyor line 3 operate simultaneously. The specific working process is as follows:

[0115] Crystal tray conveyor line 1: The crystal tray 8 is manually placed onto the crystal tray flipping device 102. The crystal tray flipping device 102 flips the crystal tray 8 onto the crystal tray conveyor roller 101. The crystal tray conveyor roller 101 conveys the crystal tray 8 into the crystal tray cleaning, wiping, and drying device 103. The crystal tray cleaning, wiping, and drying device 103 washes, wipes, and dries the crystal tray 8 conveyed from the crystal tray conveyor roller 101, while simultaneously measuring the temperature of the crystal tray 8. The crystal tray conveyor roller 101 conveys the temperature-tested and qualified crystal tray 8 into the crystal tray gluing machine 105 for gluing. The crystal tray conveyor roller 101 conveys the glued crystal tray 8 to the working range of the gluing board online robot A 106. The gluing board online robot A 106 places the glued gluing board 7 onto the glued crystal tray 8. The crystal tray conveyor roller 101 conveys the crystal tray 8 and the gluing board 7 together to the robot pre-static curing chamber 4. The adhesive board online robot A 106 transports the detected temperature-failed crystal tray 8 to the crystal tray NG trolley 104.

[0116] Adhesive sheet conveyor line 2: Manually, adhesive sheets 7 sufficient for one day's production are placed into feeding bins A 2021 and B 2011. The right adhesive sheet feeding and cleaning device 202 stores adhesive sheets 7 sufficient for one day's production, cleans the adhesive sheets 7, and then sends them to feeding device A 2023 for temperature measurement. The left adhesive sheet feeding and cleaning device 201 stores adhesive sheets 7 sufficient for one day's production, cleans the adhesive sheets 7, and then sends them to feeding device B 2013 for temperature measurement. Adhesive sheet feeding robot B 203 feeds adhesive sheets 7 that pass temperature measurement from feeding devices A 2023 and B 2013 to adhesive sheet conveyor roller 205. Adhesive sheet feeding robot B 203 feeds adhesive sheets 7 that fail temperature measurement from feeding devices A 2023 and B 2013 to the adhesive sheet abnormality NG rack A 204. The adhesive sheet conveyor roller 205 transports the adhesive sheet 7 to the adhesive sheet coating machine 206. The adhesive sheet coating machine 206 coats the adhesive sheet 7 transported from the adhesive sheet conveyor roller 205 with adhesive. After coating, the adhesive sheet 7 is transported out of the adhesive sheet coating machine 206 via the adhesive sheet conveyor roller 205 and waits at the end of the conveyor roller 205. Adhesive sheets 7 that fail the coating process are temporarily stored on the NG (Not Qualified) shelf B207 by the adhesive sheet online robot A 106. The adhesive sheet online robot A 106 then places the coated adhesive sheet 7 onto the coated crystal tray 8.

[0117] Crystal rod conveyor line 3: Crystal rods 6 are manually placed onto the crystal rod conveyor chain roller 301. The crystal rod conveyor chain roller 301 conveys the crystal rods 6 to the crystal rod size and shape detection and flipping device 302. The crystal rod size and shape detection and flipping device 302 detects the trapezoidal cross-section of the crystal rod 6 and determines whether to flip the crystal rod 6 based on the detection information, ensuring that all crystal rods 6 passing through this station are conveyed with their larger face upwards. The crystal rod scanning device 303 scans the QR code on the end face of the crystal rod 6 and provides the extracted shape and length information of the crystal rod 6 to the PLC system. The microwave heating device 304 heats the crystal rods 6 conveyed from the crystal rod conveyor chain roller 301 to the target temperature. After heating, the temperature of the crystal rods 6 is detected. Crystal rods 6 with acceptable temperature are conveyed to the end of the crystal rod conveyor chain roller 301. Crystal rods 6 with unacceptable temperature are placed on the crystal rod NG trolley 307 by the crystal rod NG suspension arm 306. Based on the crystal ingot 6 information provided by the crystal ingot scanning device 303, the splicing device 308 splices two short crystal ingots 6 into a long crystal ingot 6 under the control of the PLC system. The spliced ​​long crystal ingot 6 waits at the end of the crystal ingot conveyor chain roller 301. The entire long crystal ingot 6 is directly conveyed to the end of the crystal ingot conveyor chain roller 301 under the control of the PLC system without going through the splicing process.

[0118] The adhesive board 7 and the crystal tray 8 are stacked and transported to the gripping range of the handling robot 403 via the crystal tray conveyor line 1.

[0119] Crystal rod 6 is conveyed to the grasping range of handling robot 403 via crystal rod conveyor line 3. When the conveyed crystal rod 6 is a long crystal rod, it is directly conveyed to the end of crystal rod conveyor line 3. When the conveyed crystal rod 6 is a short crystal rod 6, it waits for the next short crystal rod 6 to arrive, and then uses the rod splicing device 305 to splice the two short crystal rods 6 into a long crystal rod 6.

[0120] The handling robot 403 moves the multi-functional gripper 405 above the adhesive plate 7 and the crystal tray 8, and slowly lowers the multi-functional gripper 405 until the gripping portions of the left gripper 40508 and the right gripper 40513 are below the crystal tray 8. The gripper cylinders 40503 on both sides retract, driving the gripper push plate 40505 through the floating joint 40504, thereby pushing the left gripper 40508 and the right gripper 40513 to clamp at distance a1. The handling robot 403 raises the multi-functional gripper 405, lifting the adhesive plate 7 and the crystal tray 8, and moves it above the stationary positioning rack 401. The handling robot 403 lowers the multi-functional gripper 405, placing the bottom of the crystal tray 8 on the upper surface of the middle part of the bottom mounting plate 40104. The gripper cylinders 40503 on both sides extend, causing the left gripper 40508 and the right gripper 40513 to open to distance a2. The handling robot 403 lifts the multi-functional gripper 405 and moves it to the top of the crystal rod 6 on the crystal rod input roller line to wait.

[0121] The crystal tray centering cylinder 40112 in the stationary positioning material rack 401 retracts, causing the crystal tray cylinder connecting plate 40111 and the crystal tray connecting plate 40110 to slide along the linear guide rail 40103, thereby causing the crystal tray positioning adjustment bolt 40108 to clamp the crystal tray 8 on the bottom mounting plate 40104.

[0122] The centering cylinder 40114 of the adhesive plate in the stationary positioning material rack 401 retracts, causing the adhesive plate cylinder connecting plate 40113 and the adhesive plate connecting plate 40106 to slide along the linear guide rail 40103, thereby causing the adhesive plate positioning adjustment bolt 40105 to clamp the adhesive plate 7 above the crystal support 8.

[0123] After the stationary positioning rack 401 clamps the crystal holder 8 and the adhesive plate 7, the handling robot 403 lowers the multi-functional gripper 405 until the sponge suction cup 40511 contacts the crystal rod 6. The sponge suction cup 40511 creates a vacuum to pick up the crystal rod 6. The handling robot 403 lifts the multi-functional gripper 405 and moves the crystal rod 6 above the adhesive plate 7 and the crystal holder 8 on the bottom mounting plate 40104 in the stationary positioning rack 401. The multi-functional gripper 405 is slowly lowered, placing the crystal rod 6 on the adhesive plate 7. The sponge suction cup 40511 breaks the vacuum and stops picking up the crystal rod 6. The handling robot 403 lifts the multi-functional gripper 405 back to the waiting position.

[0124] The crystal rod centering cylinder 40115 in the stationary positioning rack 401 retracts, causing the crystal rod cylinder connecting plate 40116 and the crystal rod centering pressure plate 40101 to slide along the linear guide rail 40103, thus clamping the crystal rod 6 with the crystal rod centering pressure plate 40101. At this point, the crystal rod 6, adhesive plate 7, and crystal support 8 are all clamped and fixed by the stationary positioning rack 401. The handling robot 403 lifts the multi-functional gripper 405 and uses the sponge suction cup 40511 to pick up the three-in-one pressure block 40201, placing it on top of the crystal rod 6. The sponge suction cup 40511 breaks the vacuum, stopping the suction of the three-in-one pressure block 40201. The handling robot 403 lifts the multi-functional gripper 405 and returns to the waiting position.

[0125] According to the process requirements, the crystal rod 6, adhesive plate 7 and crystal holder 8 should be left to stand for 30 minutes.

[0126] The handling robot 403 lifts the multi-functional gripper 405, picks up the three-in-one pressing block 40201 using the sponge suction cup 40511, and places it on the pressing block holder 40202. The handling robot 403 then lifts the multi-functional gripper 405 back to the waiting position.

[0127] After the three-in-one pressing block 40201 is placed, the stationary positioning rack 401 releases the clamping of the crystal rod 6, adhesive plate 7, and crystal holder 8 by sequentially extending the crystal rod centering cylinder 40115, the adhesive plate centering cylinder 40114, and the crystal holder centering cylinder 40112. The handling robot 403 moves the multi-functional gripper 405 above the crystal rod 6 and slowly lowers the multi-functional gripper 405 until the gripping portions of the left gripper 40508 and the right gripper 40513 are below the crystal holder 8. The two gripper cylinders 40503 retract, driving the gripper push plate 40505 through the floating joint 40504, thereby pushing the left gripper 40508 and the right gripper 40513 to clamp to a distance a2. The handling robot 403 lifts the multi-functional gripper 405, lifting the crystal rod 6, adhesive plate 7, and crystal holder 8, and moves them above the solidified material output roller conveyor 404. The handling robot 403 lowers its multi-functional gripper 405, placing the bottom of the crystal tray 8 onto the solidified material output roller conveyor 404. The gripper cylinders 40503 extend, opening the left gripper 40508 and right gripper 40513, lowering the solidified crystal rod 6, adhesive plate 7, and crystal tray 8. The handling robot 403 then raises the multi-functional gripper 405 and moves it to the material handling position on the crystal tray conveyor 1. The solidified material output roller conveyor 404 delivers the solidified crystal rod 6, adhesive plate 7, and crystal tray 8 to the automated settling chamber 5.

[0128] In the automated static storage silo 5, the 8 crystal trays, 7 adhesive plates, and 6 crystal rods are removed using a stacker crane 501. Based on information from the PLC system, the stacker crane 501 places the materials into the automated static storage silo rack 503 and allows them to stand for 2.5 hours. After the adhesive has completely cured, the stacker crane 501 removes the materials from the rack 503 and places them into the outbound flipping device 502. The outbound flipping device 502 flips the materials upside down, ready for manual retrieval. This completes the entire operation.

[0129] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A novel positioning and curing production line, characterized in that, The system includes a robot pre-static curing warehouse (4) and a three-dimensional static warehouse (5) set up adjacent to each other. The robot pre-static curing warehouse (4) is connected to the three-dimensional static warehouse (5). One side of the robot pre-static curing warehouse (4) is connected to the crystal rod conveying line (3), and the other side is equipped with a crystal tray conveying line (1) and an adhesive board conveying line (2). The robot pre-static curing warehouse (4) includes several static positioning racks (401) evenly distributed around the circumference, and a handling robot (403) is set at the center of the circle. The four directions of the circular warehouse area formed by the several static positioning racks (401) are respectively equipped with channels for crystal tray / adhesive board input roller conveyor line, crystal rod input roller conveyor line, solidified material output roller conveyor line (404), and maintenance channel. The end of the handling robot (403) is equipped with A multi-functional gripper (405) is provided; each stationary positioning material rack (401) includes a stationary fixing frame (40117), on which three centering and curing mechanisms are provided, one of which is located at the top center, and the other two are located on the shoulders of the stationary fixing frame (40117); the two centering and curing mechanisms on the shoulders are not at the same height as the centering and curing mechanisms at the top; the centering and curing mechanism includes a bottom mounting plate (40104), on which crystal rod centering pressure plate (40101), adhesive plate connecting plate (40106), and crystal support connecting plate (40110) are arranged sequentially from top to bottom on both sides of the bottom mounting plate (40104). (40106) and the crystal tray connecting plate (40110) are slidably connected to the bottom mounting plate (40104) via a slider and a linear guide rail (40103), respectively; the bottom side of the bottom mounting plate (40104) is respectively equipped with a crystal tray centering cylinder (40112), an adhesive plate centering cylinder (40114), and a crystal rod centering cylinder (40115) corresponding to the crystal rod centering pressure plate (40101), the adhesive plate connecting plate (40106), and the crystal tray connecting plate (40110); the crystal tray conveying line (1) conveys the crystal tray (8) through the crystal tray conveying roller (101); the crystal tray conveying line (1) is used to convey the crystal tray (8) to the robot pre-static curing chamber (4), and flips the crystal tray (8) to the position with the adhesive side facing upward during the conveying process. The crystal tray (8) is rinsed, wiped and dried. Before the crystal tray (8) is supplied to the robot pre-static curing warehouse (4) by the crystal tray conveyor line (1), the temperature of the crystal tray (8) is measured. If the temperature of the crystal tray (8) is not qualified, it is temporarily stored on the crystal tray NG trolley (104) by the adhesive board loading robot B (203). The crystal tray (8) with qualified temperature is conveyed to the crystal tray glue coating machine (105) by the crystal tray conveyor roller (101) for glue coating. After the crystal tray (8) is coated with glue, the adhesive board (7) is placed by the adhesive board loading robot A (106). Finally, the crystal tray (8) and the adhesive board (7) on it are conveyed to the robot pre-static curing warehouse (4). The function of the adhesive board conveyor line (2) is to convey the adhesive board (7) to the crystal tray conveyor line (1).Before the adhesive board (7) is supplied to the crystal tray conveyor line (1) by the adhesive board conveyor line (2), the temperature of the adhesive board (7) is measured. The adhesive board (7) with unqualified temperature is temporarily stored on the adhesive board abnormal NG rack A (204) by the adhesive board loading robot B (203). The adhesive board (7) with qualified temperature is conveyed to the adhesive board coating machine (206) by the adhesive board conveyor roller (205). Before the adhesive board (7) is supplied to the crystal tray conveyor line (1) by the adhesive board conveyor line (2), the adhesive board (7) is inspected for coating. The adhesive board (7) with unqualified coating is temporarily stored on the adhesive board abnormal NG rack A (204) by the adhesive board loading robot B (203). The board (7) is hoisted to the adhesive board abnormal NG rack B (207) by the adhesive board online robot A (106) for temporary storage; the adhesive board (7) with qualified adhesive coating is transported to the crystal tray conveyor line (1) by the adhesive board online robot A (106); the specific method of use is as follows: during the adhesive bonding process of the crystal rod (6), adhesive board (7) and crystal tray (8), the three are coated with adhesive and placed in the centering and curing mechanism in sequence, and then a pressure block is placed on it. The centering and curing mechanism centers the crystal rod (6), adhesive board (7) and crystal tray (8) and holds them for 30 minutes until the adhesive is initially cured. First, the material is cured; after initial curing, it is sent to the three-dimensional static curing warehouse (5) for further static curing; the handling robot (403) grabs the material on the static positioning rack (401) through the multi-functional gripper (405) and places it on the cured material output roller line (404); the robot pre-static curing warehouse (4) is used to press the three-in-one pressing block (40201) on the crystal rod (6), adhesive plate (7) and crystal holder (8) after alignment, and keep it for 30 minutes to allow the adhesive between the materials to be initially cured; and the material after initial curing is transported to the three-dimensional static curing warehouse. Storage (5); The pre-cured material is placed in the rack of the three-dimensional static storage warehouse (5) for 2.5 hours, after which the adhesive is completely cured; The stacker crane (501) takes the completely cured material out of the rack of the three-dimensional static storage warehouse (5) and sends the material to the outbound turning device (502) to turn the material up and down, and then the staff sends it to the next process; The three-dimensional static storage warehouse (5) is used to place the pre-cured material for 2.5 hours, and after the adhesive is completely cured, the material is sent to the outbound turning device (502) and turned up and down, waiting for manual outbound processing.

2. The novel positioning and curing production line as described in claim 1, characterized in that, The crystal tray conveying line (1) includes a crystal tray conveying roller (101), a crystal tray flipping device (102), a crystal tray cleaning, wiping and drying device (103), and a crystal tray NG trolley (104). The crystal tray conveying roller (101) is sequentially equipped with the crystal tray flipping device (102), the crystal tray cleaning, wiping and drying device (103), and the crystal tray glue applicator (105). The crystal tray NG trolley (104) is set on the outer side of the end of the crystal tray cleaning, wiping and drying device (103). The crystal tray cleaning, wiping and drying device (103) is equipped with a crystal tray temperature sensor. The glue applicator (105) is set on the adjacent side of the end of the glue applicator (105) with the glue board online robot A (106).

3. The novel positioning and curing production line as described in claim 2, characterized in that, The adhesive board conveying line (2) is located on one side of the crystal tray conveying line (1). The adhesive board conveying line (2) includes a left adhesive board loading and cleaning device (201), a right adhesive board loading and cleaning device (202), an adhesive board loading robot B (203), an adhesive board abnormality NG frame A (204), an adhesive board conveying roller (205), an adhesive board glue applicator (206), and an adhesive board abnormality NG frame B (207). The first ends of the left adhesive board loading and cleaning device (201), the right adhesive board loading and cleaning device (202), and the adhesive board conveying roller (205) are located within the lifting range of the adhesive board loading robot B (203). An adhesive board glue applicator (206) is installed on the adhesive board conveying roller (205). The adhesive board abnormality NG frame A (204) is located at the first end of the adhesive board conveying roller (205), and the adhesive board abnormality NG frame B (207) is located at the end of the adhesive board conveying roller (205).

4. The novel positioning and curing production line as described in claim 3, characterized in that, The multifunctional gripper (405) includes a gripper base plate (40502), a robot connecting plate (40501) is set in the middle of the top surface of the gripper base plate (40502), gripper cylinders (40503) are respectively set at both ends of the top surface of the gripper base plate (40502), gripper push plates (40505) are set on both sides of the gripper base plate (40502), each gripper cylinder (40503) is connected to the gripper push plate (40505) through a floating joint (40504), the bottom of each gripper push plate (40505) is connected to the gripper through a bracket, and the top of the gripper is connected to the bottom surface of the gripper base plate (40502) through guide components to achieve movement; a sponge suction cup (40511) is set in the middle of the bottom surface of the gripper base plate (40502).

5. The novel positioning and curing production line as described in claim 4, characterized in that, The three-dimensional static storage (5) includes a stacker crane ground rail (504), a stacker crane (501) is installed on the stacker crane ground rail (504), and several three-dimensional static storage racks (503) are installed on both sides of the stacker crane ground rail (504); there are inlets between the three-dimensional static storage racks (503), and the inlets are connected to the solidified material output roller conveyor (404); both ends of the stacker crane ground rail (504) are equipped with out-of-storage flipping devices (502).

Images