Automatic feeding device for aluminum frame of photovoltaic panels

Abstract

The present application relates to the field of photovoltaic panel aluminum frame production, and in particular to an automatic feeding device for photovoltaic panel aluminum frame. In order to solve the problem of relying more on manpower during frame pre-arrangement, which leads to low pre-arrangement efficiency, the device includes a rack, a storage mechanism for storing long frames and short frames is arranged in the rack, a cache mechanism is arranged on one side of the storage mechanism, and a transfer mechanism is also arranged in the rack. The transfer mechanism transfers the long frames and short frames in the storage mechanism to the cache mechanism for stacking, and the transfer mechanism can transfer multiple long frames or multiple short frames at one time; a feeding mechanism is arranged on the side of the cache mechanism away from the storage mechanism, and the feeding mechanism cooperates with the cache mechanism to transfer a group of stacked materials to the next process at one time. The present application has the effect of improving the pre-arrangement efficiency of photovoltaic panel aluminum frames.

Description

Technical Field

[0001] The present application relates to the field of production of aluminum frames for photovoltaic panels, and in particular to an automatic feeding device for aluminum frames for photovoltaic panels. Background Art

[0002] Photovoltaic panels, also known as solar panels, are assembled from several solar cell modules on a board in a certain way, usually as a unit of a photovoltaic array. In order to increase the service life of solar cells, a frame is usually set outside the solar cell. The solar cell frame is made of four aluminum profiles, including two long frames and two short frames. Before installing the frame of the photovoltaic panel, the frame and the photovoltaic panel need to be placed on the frame installation device for assembly.

[0003] The existing technology usually uses manual or semi-automatic methods to pre-sort and load frames. Fully manual loading is inefficient and prone to errors; the semi-automatic method still requires manual sorting of two long frames and two short frames and pre-sorting before the robot transfers them. The robot transfers faster than the manual pre-sorting, and the robot needs to wait when handing over the frames, so the efficiency is still low. Therefore, it needs to be improved. Summary of the invention

[0004] In order to improve the efficiency of pre-processing of aluminum frames of photovoltaic panels, the present application provides an automatic feeding device for aluminum frames of photovoltaic panels.

[0005] The photovoltaic panel aluminum frame automatic feeding device provided in this application adopts the following technical solution:

[0006] The automatic feeding device for aluminum frames of photovoltaic panels comprises a frame, wherein a storage mechanism for storing long frames and short frames is arranged in the frame, a cache mechanism is arranged on one side of the storage mechanism, and a transfer mechanism is also arranged in the frame, wherein the transfer mechanism transfers the long frames and short frames in the storage mechanism to the cache mechanism for stacking respectively, and the transfer mechanism can transfer multiple long frames or multiple short frames at one time; a feeding mechanism is arranged on the side of the cache mechanism away from the storage mechanism, and the feeding mechanism cooperates with the cache mechanism to transfer a group of stacked materials to the next process.

[0007] By adopting the above technical solution, the operator stacks the neatly stacked long and short frames into the storage mechanism. The transfer mechanism works to transfer a row of long frames or a row of short frames from the storage mechanism to the cache mechanism at a time, and the transfer mechanism continues to work until the cache mechanism is filled and stops. A plurality of long frames and short frames are temporarily stored in the cache mechanism. The cache mechanism works to move the long frames and short frames to the side close to the unloading mechanism. During the movement, the long frames and short frames are neatly stacked side by side, and two long frames and two short frames are stacked into a group on the side of the cache mechanism close to the unloading mechanism. The unloading mechanism cooperates with the cache mechanism to take away a group of materials and put them to the next process for assembly. The feeding device of the present application realizes automated pre-sorting before assembly, that is, fully automated sorting, stacking and continuous feeding of long and short frames. In the whole process, the operator only needs to stack the material pile to the designated position, which reduces the dependence of the feeding process on manpower and improves the efficiency and accuracy of feeding. In the present application, the rhythm of the buffer mechanism is equal to the rhythm of the feeding mechanism, which reduces the waiting time between the mutual coordination and further improves the efficiency of pre-sorting.

[0008] Optionally, the transfer mechanism includes a horizontal moving component, a multi-degree-of-freedom manipulator and a suction component, the horizontal moving component is arranged in a frame, a plurality of cache mechanisms are arranged in the frame and arranged along a straight line, and the length direction of the horizontal moving component is arranged parallel to the connection direction of the plurality of cache mechanisms; one end of the multi-degree-of-freedom manipulator is installed on the horizontal moving component, and the horizontal moving component drives the multi-degree-of-freedom manipulator to reciprocate between the plurality of cache mechanisms; the suction component is installed on the movable end of the multi-degree-of-freedom manipulator, and the multi-degree-of-freedom manipulator drives the suction component to reciprocate between the storage component and the plurality of cache components.

[0009] By adopting the above technical solution, since the beat of the multi-degree-of-freedom manipulator is shorter than that of a single cache mechanism, multiple cache mechanisms are set to reduce the time wasted by the multi-degree-of-freedom manipulator waiting for the cache mechanisms, thereby improving the pre-sorting efficiency. Whenever one of the cache mechanisms is filled, the other cache mechanism just needs to fill the frame. During this process, the multi-degree-of-freedom manipulator is in a continuous working state, reducing the waiting time of the multi-degree-of-freedom manipulator to improve the pre-sorting efficiency.

[0010] Optionally, multiple storage mechanisms are arranged in the rack, the number of the storage mechanisms is the same as the number of the cache mechanisms, and the storage mechanisms in the same group are arranged close to the cache mechanisms; multiple unloading mechanisms are arranged in the rack, the number of the unloading mechanisms is the same as the number of the cache mechanisms, and the rhythm of the unloading mechanisms is the same as the rhythm of the cache mechanisms.

[0011] By adopting the above technical solution, setting up multiple storage mechanisms can reduce the moving stroke of the multi-degree-of-freedom manipulator to a limited extent, reduce the working rhythm of the multi-degree-of-freedom manipulator and improve efficiency. The unloading mechanism cooperates with the cache mechanism to reduce waiting time, so as to improve the efficiency of pre-sorting.

[0012] Optionally, the suction assembly includes a mounting platform, an equidistant module and multiple suction cup groups, the mounting platform is mounted on the movable end of the multi-degree-of-freedom manipulator, the equidistant module is mounted on the mounting platform, multiple suction cup groups are mounted on multiple movable modules of the equidistant module, the suction cup group includes multiple vacuum suction cups, a vacuum module is mounted on the mounting platform, each of the vacuum suction cups is connected to the vacuum module, and each group of vacuum suction cups corresponds to adsorbing a long frame or a short frame.

[0013] By adopting the above technical solution, the operator adjusts the equidistant module according to the incoming frame material situation, so that the spacing between the suction cup groups is adapted to the frame. The multi-degree-of-freedom manipulator drives the installation platform to move to the top of the long frame placement plate first, and controls the installation platform to descend until the vacuum suction cup is in contact with the adsorption surface of the top surface of the long frame. Two groups of vacuum suction cups in the same row in the length direction of the installation platform contact the same long frame, and the vacuum module drives the vacuum suction cup to perform negative pressure adsorption on the long frame. The multi-degree-of-freedom manipulator controls the installation platform to rise and drive ten long frames to simultaneously detach from the material pile on the long frame placement plate, and place the ten long frames into the cache mechanism. When the number of long frames in the cache mechanism is sufficient, the multi-degree-of-freedom manipulator drives the installation platform to move to the short frame placement plate for material removal. Multiple vacuum suction cups adsorb one frame to improve the firmness of adsorption to improve the safety of the material transfer process and reduce the possibility of the frame falling. In addition, the multi-degree-of-freedom manipulator keeps the vacuum suction cup in a vertical state during the material transfer process to reduce the degree of frame shaking.

[0014] Optionally, the vacuum suction cup is a sponge suction cup.

[0015] By adopting the above technical solution, the sponge suction cup has a strong adsorption force, is not easy to fall, and has the characteristics of being stable and firm, which can effectively avoid various losses and dangers caused by falling objects. At the same time, due to the soft design of the sponge suction cup, the smooth aluminum alloy surface of the frame is reduced from being scratched when moving materials.

[0016] Optionally, an isolation paper suction cup is also provided on the mounting platform, and isolation paper cylinders are respectively installed on the two side walls of the mounting platform in the length direction of the suction cup group. The isolation paper suction cup is installed on the output shaft of the isolation paper cylinder. The isolation paper cylinder drives the isolation paper suction cup to reciprocate in the vertical direction, and the isolation paper suction cup is also connected to the vacuum module.

[0017] By adopting the above technical solution, when the frame is transferred, the isolation paper cylinder controls the bottom of the isolation paper suction cup to be higher than the bottom of the vacuum suction cup to prevent the isolation paper suction cup from colliding with the frame when taking the material. When the isolation paper strip needs to be removed, the isolation paper cylinder controls the isolation paper suction cup to descend relative to the installation platform, so that the bottom of the isolation paper suction cup is lower than the bottom of the vacuum suction cup. The multi-degree-of-freedom manipulator controls the installation platform to descend, first making the isolation paper suction cup on one side stick to the isolation paper on one side, and the vacuum module drives the isolation paper suction cup to absorb the isolation paper strip. The multi-degree-of-freedom manipulator drives the isolation paper suction cup to rise through the installation platform, driving the isolation paper strip on one side to separate from the frame pile, and repeats the above steps to remove the isolation paper strip on the other side. The multi-degree-of-freedom manipulator drives the installation platform away from the material pile, and the vacuum module drives the isolation paper suction cup to release the adsorption. The two isolation paper strips are separated under the action of gravity. After the isolation paper strip is recovered, the isolation paper cylinder controls the isolation paper suction cup to retract above the vacuum suction cup. Complete the automated recovery of the isolation paper strips, reduce the dependence of the pre-sorting process on manpower, and improve the pre-sorting efficiency.

[0018] Optionally, the cache mechanism includes four cache components, and the four cache components are arranged at intervals in the vertical direction. The two cache components located on the top layer and the bottom layer are used to cache long borders, and the two cache components located on the middle layer are used to cache short borders; the distance between the cache components on two adjacent layers can accommodate the movable end and suction component of the multi-degree-of-freedom manipulator to enter.

[0019] By adopting the above technical solution, when filling the cache mechanism, the multi-degree-of-freedom manipulator first drives the suction component to continuously take and place two long frames, and respectively place ten long frames in the top and bottom cache components; then continuously take and place two short frames, and respectively place ten short frames in the two cache components in the middle layer. At this time, the cache component can start working to stack the frames. After one working cycle, a group of four long and short frames are stacked on the side of the cache component close to the feeding mechanism. The multi-degree-of-freedom manipulator first drives the suction component to fill the cache component according to the above steps until there is enough material in this cache mechanism. The horizontal moving component drives the multi-degree-of-freedom manipulator to move to another cache mechanism for filling. When there is enough material in the four cache components of this cache mechanism, the other cache mechanism consumes the material and can be filled next time, but at this time, all the materials have not been used up, leaving time for taking the isolation paper strip. The process of taking and placing materials cooperates with the process of stacking the frames. Once the cache component starts working, there is no need to stop and wait for taking and placing materials in the middle, which improves the efficiency of stacking the frames.

[0020] Optionally, the cache component includes a conveying member, a correcting member, a material stopping member and a material dividing member, the conveying member includes two conveyor belts driven by a motor, the conveyor belts are installed side by side on the frame, and the two ends in the length direction of the frame are respectively placed on the two conveyor belts; the correcting member is arranged at the head end of the conveyor belt, the correcting member includes two correcting plates driven by a cylinder, the two correcting plates are installed on the side of the two conveyor belts away from each other, the length direction of the two correcting plates is parallel to the conveyor belt, and the cylinder drives the two correcting plates to approach each other to align a row of frames on the conveyor belt; the material stopping member includes two material stopping blocks driven by a cylinder, the material stopping blocks are arranged at the end of the conveyor belt, and the top end of the material stopping block can protrude from the top surface of the conveyor belt and abut against the side wall of the frame; the material dividing member is arranged on the side of the material stopping member close to the correcting member, the material dividing member includes two material dividing plates driven by a cylinder, the material dividing plate is arranged between the two conveyor belts, and the bottom end of the material dividing plate can abut against the side wall of the frame on the conveyor belt.

[0021] By adopting the above technical solution, when stacking is required, the frame is on the side of the conveyor belt close to the straightening plate, and the cylinder drives the two straightening plates to approach each other to align the protruding frame, and aligns once each time it is placed to ensure the accuracy of alignment. The conveyor belt drives the frame to move in the direction close to the stopper block. At this time, the dividing plate is suspended above the conveyor belt, and the stopper block retracts below the conveyor belt. When the first frame at the front passes over the dividing plate, the dividing plate descends and the bottom end of the dividing plate is inserted between the first frame and the second frame. The second frame is blocked by the dividing plate, and the subsequent frame is blocked by the second frame, and sliding friction occurs with the conveyor belt; the stopper block is lifted at the same time. Under the action of the conveyor belt, the first frame continues to approach the stopper block until it is blocked by the stopper block, separating the frontmost frame from the subsequent frame, and completing the stacking of the frame. When a frame is stacked separately at the four-layer stopper block, the unloading mechanism starts to take away a group of four frames together, and the dividing plate rises and the stopper block retracts to continue stacking the next frame. The automatic separation and stacking of the frames is realized, and the efficiency of stacking is improved. In addition, the contact area between the two conveyor belts and the frame is small, which reduces the waste of energy due to friction and also reduces the possibility of the frame rolling due to friction.

[0022] Optionally, the unloading mechanism includes a two-axis manipulator, a steering motor and a clamping assembly, one end of the two-axis manipulator is mounted on a frame, and the other end is rotatably connected to the clamping assembly, the rotation of the clamping assembly is driven by the steering motor, and the steering motor drives the clamping assembly to switch between horizontal and vertical states, and the two-axis manipulator drives the clamping assembly to approach or move away from the plane where multiple stop blocks are located in the vertical plane to clamp the border on the conveyor belt blocked by the stop blocks.

[0023] Optionally, the clamping assembly includes a mounting frame, a linkage and four groups of pneumatic jaws, the mounting frame is rotatably connected to the movable end of the two-axis manipulator, and the output shaft of the steering motor is connected to the mounting frame; each group of pneumatic jaws includes two pneumatic jaws rotatably connected to the mounting frame, the two pneumatic jaws in the same group are arranged along the length direction of the frame, and the distance between the two pneumatic jaws in the same group is smaller than the distance between two conveyor belts in the same group; a servo cylinder is installed on the mounting frame, one end of the linkage is connected to the servo cylinder, and the other end is connected to the four groups of pneumatic jaws to drive the four groups of pneumatic jaws to rotate synchronously.

[0024] By adopting the above technical solution, when a group of frames are stacked, the two-axis manipulator drives the mounting frame to approach the conveyor belt, and the steering motor controls the mounting frame to rotate to a vertical state, so that it does not collide with the cache component during rotation. At this time, the servo cylinder controls the clamps on all pneumatic clamps to be in a horizontal state through the linkage. When the four groups of pneumatic clamps are aligned with the four frames, the two-axis manipulator drives the mounting frame to approach the conveyor belt horizontally, and the clamps on the same group of pneumatic clamps clamp the frame between the two conveyor belts of the same group. While the stop block is descending, the servo cylinder drives all pneumatic clamps to rotate clockwise through the linkage, so that the end of the clamp away from the mounting frame tilts upward, driving the frame to detach from the conveyor belt while reducing the collision between the frame and the stop block. The two-axis manipulator drives the mounting frame away from the conveyor belt, and the steering motor controls the mounting frame to rotate to a horizontal state. The servo cylinder controls the clamps on the pneumatic clamps to rotate to a vertical state through the linkage. A group of frames arranged on the vertical plane is removed and rotated to be arranged on the horizontal plane, and sent to the next process for assembly and welding. Repeat the above steps to realize automated stacking and loading, and improve the efficiency of pre-sorting.

[0025] In summary, the present application includes at least one of the following beneficial technical effects:

[0026] 1. The operator stacks the neatly stacked long and short frames into the storage mechanism. The transfer mechanism works to transfer a row of long frames or a row of short frames from the storage mechanism to the cache mechanism at a time, and the transfer mechanism continues to work until the cache mechanism is filled and stops. A plurality of long frames and short frames are temporarily stored in the cache mechanism. The cache mechanism works to move the long frames and short frames to the side close to the unloading mechanism. During the movement, the long frames and short frames are neatly stacked side by side, and two long frames and two short frames are stacked into a group on the side of the cache mechanism close to the unloading mechanism. The unloading mechanism and the cache mechanism cooperate to take away a group of materials and put them to the next process for assembly. The feeding device of the present application realizes automated pre-sorting before assembly, that is, fully automated sorting, stacking and continuous feeding of long and short frames. In the whole process, the operator only needs to stack the material pile to the designated position, which reduces the dependence of the feeding process on manpower and improves the efficiency and accuracy of feeding. In addition, the beat of the cache mechanism in the present application is equal to the beat of the unloading mechanism, which reduces the waiting time between mutual cooperation and further improves the efficiency of feeding;

[0027] 2. Since the beat of the multi-degree-of-freedom manipulator is shorter than that of a single cache mechanism, multiple cache mechanisms are set to reduce the time wasted by the multi-degree-of-freedom manipulator waiting for the cache mechanisms and improve the pre-sorting efficiency. Whenever one of the cache mechanisms is filled, the other cache mechanism just needs to fill the frame. During this process, the multi-degree-of-freedom manipulator is in a continuous working state, reducing the waiting time of the multi-degree-of-freedom manipulator to improve the pre-sorting efficiency;

[0028] 3. When filling the cache mechanism, the multi-degree-of-freedom manipulator first drives the suction component to continuously pick up and place two long frames, and places ten long frames in the top and bottom cache components respectively; then continuously pick up and place two short frames, and place ten short frames in the two cache components in the middle layer respectively. At this time, the cache component can start working to stack the frames. After one working cycle, a group of four long and short frames are stacked on the side of the cache component close to the unloading mechanism. The multi-degree-of-freedom manipulator first drives the suction component to fill the cache component according to the above steps until there is enough material in this cache mechanism. The horizontal moving component drives the multi-degree-of-freedom manipulator to move to another cache mechanism for filling. When there is enough material in the four cache components of this cache mechanism, the other cache mechanism consumes the material and can be filled next time, but at this time, all the materials have not been used up, leaving time for taking the isolation paper strip. The process of taking and placing materials is coordinated with the process of stacking the frames. Once the cache component starts working, there is no need to stop and wait for taking and placing materials in the middle, which improves the efficiency of stacking the frames. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of the automatic feeding device for the aluminum frame of the photovoltaic panel according to the embodiment of the present application.

[0030] Figure 2 It is a plan view of the automatic feeding device for the aluminum frame of the photovoltaic panel according to the embodiment of the present application.

[0031] Figure 3 It is a schematic diagram of the structure of the suction component of the embodiment of the present application.

[0032] Figure 4 yes Figure 1 The enlarged view of A in the middle is used to show the structure of the cache component.

[0033] Figure 5 It is a schematic diagram of the structure of the clamping assembly of an embodiment of the present application.

[0034] Description of reference numerals: 1, rack; 11, optical grid; 2, storage mechanism; 21, long frame placement tray; 22, short frame placement tray; 23, recovery basket; 3, transfer mechanism; 31, horizontal moving component; 32, multi-degree-of-freedom manipulator; 33, suction component; 331, installation platform; 332, isometric module; 333, vacuum suction cup; 334, vacuum module; 335, isolation paper suction cup; 336, isolation paper cylinder; 337, visual sensory camera; 4. cache mechanism; 41. cache assembly; 411. conveyor belt; 412. return plate; 413. stop block; 414. dividing plate; 5. unloading mechanism; 51. two-axis manipulator; 52. steering motor; 53. clamping assembly; 531. mounting frame; 532. linkage member; 5321. rotating rod; 5322. linkage rod; 5323. rotating shaft seat; 533. pneumatic clamp; 5331. clamping plate; 534. servo cylinder. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-5 This application is described in further detail.

[0036] The present application embodiment discloses an automatic feeding device for aluminum frames of photovoltaic panels. Figure 1 The automatic feeding device for the aluminum frame of the photovoltaic cell panel includes a frame 1, which is fixed on the ground. A storage mechanism 2 is arranged in the frame 1, and the storage mechanism 2 is used to store the long frame and the short frame respectively. A cache mechanism 4 is arranged on one side of the storage mechanism 2, and a transfer mechanism 3 is also arranged in the frame 1. The transfer mechanism 3 transfers the long frame and the short frame in the storage mechanism 2 to the cache mechanism 4 respectively, and the transfer mechanism 3 can transfer multiple long frames or short frames at a time. The cache mechanism 4 stacks the long frame and the short frame, and stacks two long frames and two short frames into a group. A feeding mechanism 5 is arranged on the side of the cache mechanism 4 away from the storage mechanism 2, and the feeding mechanism 5 can cooperate with the cache mechanism 4 to continuously supply a group of stacked materials to the next process.

[0037] The operator stacks neatly stacked long frames into the storage mechanism 2, and stacks neatly stacked short frames into the storage mechanism 2. The transfer mechanism 3 is started. The transfer mechanism 3 works once to transfer a row of long frames or a row of short frames from the storage mechanism 2 to the cache mechanism 4, and puts them into the cache mechanism 4 from the side close to the storage mechanism 2; the transfer mechanism 3 continues to work until the cache mechanism 4 is filled and then stops. There are multiple long frames and short frames temporarily stored in the cache mechanism 4. The cache mechanism 4 works to move the long frames and short frames to the side close to the unloading mechanism 5. During the movement, the long frames and short frames are neatly stacked side by side, and two long frames and two short frames are stacked into a group on the side of the cache mechanism 4 close to the unloading mechanism 5. The unloading mechanism 5 is started. The unloading mechanism 5 works once to take a group of materials from the cache mechanism 4 and put them to the next process for assembly. The feeding device of the present application realizes the automatic pre-sorting before assembly, that is, the fully automatic sorting, stacking and continuous feeding of long and short frames. In the whole process, the operator only needs to stack the material pile to the designated position, which reduces the dependence of the feeding process on manpower and improves the efficiency and accuracy of feeding. In addition, the beat of the buffer mechanism 4 in the present application is equal to the beat of the unloading mechanism 5, which reduces the waiting time between the mutual cooperation and further improves the efficiency of pre-sorting.

[0038] Reference Figure 1 and Figure 2 The transfer mechanism 3 includes a multi-degree-of-freedom manipulator 32, which is arranged in the frame 1. A suction assembly 33 is installed on the movable end of the multi-degree-of-freedom manipulator 32 to pick up and place the frame. The beat of the multi-degree-of-freedom manipulator 32 is shorter than the beat of a single buffer mechanism 4, so multiple buffer mechanisms 4 are arranged in the frame 1. In this embodiment, two buffer mechanisms 4 are arranged to reduce the time wasted by the multi-degree-of-freedom manipulator 32 due to waiting for the buffer mechanism 4, thereby improving the pre-sorting efficiency.

[0039] Since the arm span of the multi-degree-of-freedom manipulator 32 is limited, a horizontal moving assembly 31 is provided in the frame 1 in order to cooperate with the two cache mechanisms 4. The length direction of the horizontal moving assembly 31 is arranged parallel to the connecting direction of the two cache mechanisms 4. The horizontal moving assembly 31 includes a track installed on the ground, a slide is slidably arranged on the track, and a motor is installed on the slide to drive the slide to slide back and forth along the track. The fixed end of the multi-degree-of-freedom manipulator 32 is installed on the slide by bolts, and the horizontal moving assembly 31 drives the multi-degree-of-freedom manipulator 32 to reciprocate between multiple cache mechanisms 4. The multi-degree-of-freedom manipulator 32 drives the suction assembly 33 to reciprocate between the storage assembly and the multiple cache assemblies 41. In order to reduce the moving stroke of the multi-degree-of-freedom manipulator 32, multiple storage mechanisms 2 are arranged in the frame 1. In this embodiment, two storage mechanisms 2 are arranged to cooperate with the two cache mechanisms 4, and the storage mechanisms 2 of the same group are arranged close to the cache mechanisms 4.

[0040] When the transfer mechanism 3 is working, the horizontal moving component 31 first controls the multi-degree-of-freedom manipulator 32 to move between one group of storage mechanisms 2 and the cache mechanism 4. The multi-degree-of-freedom manipulator 32 drives the suction component 33 to move to the storage mechanism 2 to suck a row of long frames or short frames, and then the multi-degree-of-freedom manipulator 32 drives the suction component 33 to move to the cache mechanism 4, and puts a row of frames on the suction component 33 into the cache mechanism 4. During this process, the horizontal moving component 31 is in a standby state. Repeat the above process until this cache mechanism 4 is filled. The horizontal moving component 31 drives the multi-degree-of-freedom manipulator 32 to move between another group of storage mechanisms 2 and the cache mechanism 4, and the multi-degree-of-freedom manipulator 32 drives the suction component 33 to fill this cache mechanism 4. Whenever one of the cache mechanisms 4 is filled, the other cache mechanism 4 just needs to be filled with frames. During this process, the multi-degree-of-freedom manipulator 32 is in a continuous working state, reducing the waiting time of the multi-degree-of-freedom manipulator 32 to improve the pre-sorting efficiency.

[0041] Reference Figure 2 The storage mechanism 2 includes a long frame placement tray 21 and a short frame placement tray 22. The two long frame placement trays 21 are placed on the ground at both sides of the length direction of the horizontal moving component 31, and the two short frame placement trays 22 are placed on the ground at one side of the horizontal moving component 31 away from the cache mechanism 4. Frames of the same length are neatly stacked on the placement tray, and the frames and the placement trays are difficult to move under the action of gravity.

[0042] A protective net is used to enclose the production area around the frame 1, and a feeding channel is opened near the long frame placement tray 21 and the short frame placement tray 22. An optical grid 11 is installed on the feeding channel to improve the safety of the pre-sorting process.

[0043] Reference Figure 3The suction assembly 33 includes a mounting platform 331, and the mounting platform 331 is connected to the movable end of the multi-degree-of-freedom manipulator 32 by bolts. Two square holes are opened on both sides of the length direction of the mounting platform 331, and the square holes penetrate the side walls of the mounting platform 331 in the thickness direction. Isometric modules 332 are installed in the square holes, and the two isometric modules 332 are symmetrically arranged. In this embodiment, the isometric modules 332 include ten movable modules, and each movable module is equipped with a suction cup group, and the suction cup groups are symmetrically arranged on both sides of the length direction of the mounting platform 331. A suction cup group includes a plurality of vacuum suction cups 333. In this embodiment, each suction cup group includes five vacuum suction cups 333, and the five vacuum suction cups 333 are arranged in an array along the length direction of the mounting platform 331. The bottom end of the vacuum suction cup 333 protrudes from the bottom wall of the mounting platform 331. A vacuum module 334 is installed on the mounting platform 331. Each vacuum suction cup 333 is connected to the vacuum module 334 through a pipe. Two groups of vacuum suction cups 333 in the same straight line in the width direction of the equidistant module 332 correspondingly adsorb a long frame or a short frame. The coverage of the ten vacuum suction cups 333 in the same row is adapted to the long frame or the short frame.

[0044] The vacuum suction cup 333 uses a sponge suction cup to better absorb the metal frame. The sponge suction cup has a strong adsorption force and is not easy to fall off. At the same time, it is stable and firm, which can effectively avoid various losses and dangers caused by falling objects. At the same time, due to the soft design of the sponge suction cup, it will not scratch the smooth aluminum alloy surface of the frame.

[0045] A through hole is provided on the mounting platform 331 between the two equidistant modules 332, and a visual camera 337 is installed in the through hole. The visual camera 337 is electrically connected to the PLC controller, and the multi-degree-of-freedom manipulator 32 is also electrically connected to the PLC controller.

[0046] Before work, the operator adjusts the equidistant module 332 according to the incoming material of the frame, so that the spacing between the suction cup groups is adapted to the frame. When the optical grid 11 determines that the production area is safe, the multi-degree-of-freedom manipulator 32 works to move the material. The multi-degree-of-freedom manipulator 32 drives the installation platform 331 to move first to the top of the long frame placement plate 21, and the vacuum suction cup 333 is vertically downward. The visual camera 337 takes a picture to determine the distance between the vacuum suction cup 333 and the top long frame on the long frame placement plate 21, and sends a signal to the multi-degree-of-freedom manipulator 32 through the PLC controller. The multi-degree-of-freedom manipulator 32 controls the installation platform 331 to descend until the vacuum suction cup 333 is attached to the adsorption surface of the top surface of the long frame. The visual camera 337 can also determine whether the spacing between two adjacent long frames meets the adsorption conditions by taking pictures. When the adsorption conditions are met, the two groups of vacuum suction cups 333 in the same row in the length direction of the installation platform 331 contact the same long frame, and the vacuum module 334 drives the vacuum suction cup 333 to perform negative pressure adsorption on the long frame. The multi-degree-of-freedom manipulator 32 controls the installation platform 331 to rise and drive the ten long frames to simultaneously detach from the material pile on the long frame placement tray 21, and place the ten long frames into the cache mechanism 4. If the visual camera 337 takes a photo and determines that the distance between two adjacent long frames exceeds the adsorption range, the adsorption is abandoned and an alarm is issued to reduce the occurrence of frames falling halfway due to poor adsorption caused by incorrect adsorption positions. When the number of long frames in the cache mechanism 4 is sufficient, the multi-degree-of-freedom manipulator 32 drives the installation platform 331 to move to the short frame placement tray 22 to pick up the material.

[0047] Reference Figure 3 When the frame is supplied, a separation paper strip will be placed between each layer of the frame, and the separation paper strip is located at both ends of the length direction of the frame. A separation paper sucker 335 is provided on the mounting platform 331, which is used to remove the separation paper from the frame pile. Separation paper cylinders 336 are respectively installed on the two side walls in the length direction of the mounting platform 331 by bolts, and the separation paper sucker 335 is installed on the output shaft of the separation paper cylinder 336 by bolts, and each separation paper cylinder 336 is correspondingly provided with two separation paper suckers 335. The separation paper cylinder 336 drives the separation paper sucker 335 to reciprocate in the vertical direction, and the separation paper sucker 335 is also connected to the vacuum module 334 through a pipe. A recovery basket 23 is also provided in the frame 1, and the recovery basket 23 is placed on the ground between the long frame placement tray 21 and the short frame placement tray 22.

[0048] When the visual camera 337 determines that the top of the frame pile is a frame by taking a photo, the isolation paper cylinder 336 controls the bottom of the isolation paper sucker 335 to be higher than the bottom of the vacuum sucker 333 to prevent the isolation paper sucker 335 from colliding with the frame when taking the material. When the visual camera 337 determines that the top of the frame pile is a separation paper strip by taking a photo, the isolation paper cylinder 336 controls the isolation paper sucker 335 to descend relative to the mounting platform 331, so that the bottom of the isolation paper sucker 335 is lower than the bottom of the vacuum sucker 333. The multi-degree-of-freedom manipulator 32 controls the mounting platform 331 to descend based on the data measured by the visual camera 337, and first makes the isolation paper sucker 335 on one side stick to the isolation paper on one side, and the vacuum module 334 drives the isolation paper sucker 335 to absorb the isolation paper strip, and the multi-degree-of-freedom manipulator 32 drives the isolation paper sucker 335 to rise through the mounting platform 331, driving the isolation paper strip on one side to leave the frame pile, and repeats the above steps to take out the isolation paper strip on the other side. The multi-degree-of-freedom manipulator 32 drives the mounting platform 331 to move above the recycling basket 23, and the vacuum module 334 drives the isolation paper suction cup 335 to release the adsorption, and the two isolation paper strips fall into the recycling basket 23 under the action of gravity, completing the automatic recycling of the isolation paper strips, reducing the dependence of the pre-sorting process on manpower, and improving the pre-sorting efficiency. After the isolation paper strips are recycled, the isolation paper cylinder 336 controls the isolation paper suction cup 335 to retract to above the vacuum suction cup 333.

[0049] Reference Figure 3 and Figure 4 The cache mechanism 4 includes four cache components 41, which are arranged at intervals in the vertical direction, and the distance between two adjacent layers of cache components 41 can accommodate the movable end of the multi-degree-of-freedom manipulator 32 and the suction component 33. The two cache components 41 located at the top and bottom layers are used to cache the long borders, and the two cache components 41 located at the middle layer are used to cache the short borders.

[0050] When filling the cache mechanism 4, the multi-degree-of-freedom manipulator 32 first drives the suction component 33 to continuously pick up and place two long frames, and respectively place ten long frames in the top and bottom cache components 41; then continuously pick up and place two short frames, and respectively place ten short frames in the two cache components 41 in the middle layer. At this time, the cache component 41 can start working to stack the frames. After one working cycle, a group of four long and short frames are stacked on the side of the cache component 41 close to the unloading mechanism 5. The multi-degree-of-freedom manipulator 32 first drives the suction component 33 to fill the cache component 41 according to the above steps until there is enough material in this cache mechanism 4. The horizontal moving component 31 drives the multi-degree-of-freedom manipulator 32 to move to another cache mechanism 4 for filling. When there is enough material in the four cache components 41 of this cache mechanism 4, the other cache mechanism 4 consumes the material and can be filled next time, but at this time all the materials have not been used up, leaving time for taking the isolation paper strip. The process of taking and placing materials is coordinated with the process of border stacking. Once the buffer component 41 starts working, there is no need to stop and wait for taking and placing materials, thereby improving the efficiency of border stacking.

[0051] Reference Figure 4 The cache assembly 41 includes a conveying member, which includes two conveyor belts 411 driven by a motor. The conveyor belts 411 are horizontally installed side by side on the frame 1, and the two ends in the length direction of the frame are respectively placed on the two conveyor belts 411, and the two ends in the length direction of the frame protrude from the side walls of the two conveyor belts 411. The moving direction of the conveyor belt 411 is perpendicular to the length direction of the frame. A return member is provided at the head end of the conveyor belt 411, and the return member includes two return plates 412 driven by a cylinder. The two return plates 412 are movably installed on the frame 1 and are located on the side where the two conveyor belts 411 are away from each other. The length direction of the return plate 412 is parallel to the conveyor belt 411, and the cylinder drives the two return plates 412 to approach each other to align a row of frames on the conveyor belt 411.

[0052] A material stopper is provided at the end of the conveyor belt 411. The material stopper includes two material blocks 413 driven by a cylinder. The two material blocks 413 are movably mounted on the frame 1 and are located on the side where the two conveyor belts 411 are away from each other. The cylinder drives the material stopper 413 to move back and forth in the vertical direction. The top of the material stopper 413 can protrude from the top surface of the conveyor belt 411 and abut against the side wall of the frame. A material separation piece is also provided on the side of the material stopper close to the return piece. The material separation piece includes two material separation plates 414 driven by a cylinder. The material separation plates 414 are movably mounted on the frame 1 through a rod and are located between the two conveyor belts 411. The cylinder drives the material separation plates 414 to move back and forth in the vertical direction. The bottom end of the material separation plate 414 can abut against the side wall of the upper frame of the conveyor belt 411. The distance between the line connecting the two material stopper blocks 413 and the line connecting the two material separation plates 414 is greater than the width of a frame.

[0053] When stacking is required, the frame is on the side of the conveyor belt 411 close to the alignment plate 412, and the cylinder drives the two alignment plates 412 to approach each other. The alignment plate 412 and the side wall of the frame protruding from the conveyor belt 411 are against each other, so that the protruding frame is aligned in the center. The alignment is performed once each time it is placed to ensure the accuracy of the alignment. The conveyor belt 411 drives the frame to move in the direction close to the stopper block 413. At this time, the dividing plate 414 is suspended above the conveyor belt 411, and the distance between the dividing plate 414 and the conveyor belt 411 is greater than the height of the frame; at this time, the stopper block 413 retracts under the conveyor belt 411. When the first frame at the front passes over the dividing plate 414, the dividing plate 414 drops and the bottom end of the dividing plate 414 is inserted between the first frame and the second frame. The second frame is blocked by the dividing plate 414, and the subsequent frame is blocked by the second frame, and sliding friction occurs with the conveyor belt 411; the stopper block 413 is lifted at the same time. Under the action of the conveyor belt 411, the first frame continues to approach the blocking block 413 until it is blocked by the blocking block 413, separating the frontmost frame from the subsequent frames, and completing the stacking of the frames. When a frame is stacked separately at the four-layer blocking blocks 413, the unloading mechanism 5 starts to take away a group of four frames together, the dividing plate 414 rises, and the blocking block 413 retracts to continue stacking the next frame.

[0054] Reference Figure 1 A plurality of unloading mechanisms 5 are arranged in the frame 1, and the number of unloading mechanisms 5 is the same as the number of buffer mechanisms 4. Each unloading mechanism 5 corresponds to one buffer mechanism 4, and the beat of the unloading mechanism 5 is the same as the beat of the buffer mechanism 4. After the four buffer components 41 of the buffer mechanism 4 have completed stacking a group of frames, the unloading mechanism 5 will take away a group of frames and send them to the next process. The unloading mechanism 5 cooperates with the buffer mechanism 4 to reduce the waiting time, so as to improve the efficiency of pre-sorting.

[0055] Reference Figure 1 and Figure 5 The unloading mechanism 5 includes a two-axis manipulator 51, and the fixed end of the two-axis manipulator 51 is installed on the frame 1 above the buffer mechanism 4 by bolts. A gripping assembly 53 is installed on the movable end of the two-axis manipulator 51, and the gripping assembly 53 is rotatably connected to the movable end of the two-axis manipulator 51. A steering motor 52 is also installed on the movable end of the two-axis manipulator 51, and the steering motor 52 drives the gripping assembly 53 to switch between the horizontal and vertical states. The two-axis manipulator 51 drives the gripping assembly 53 to approach or move away from the plane where the multiple blocking blocks 413 are located in the vertical plane to grip a group of frames on the conveyor belt 411 that are blocked by the blocking blocks 413.

[0056] The clamping assembly 53 includes a mounting frame 531, which is rotatably connected to the movable end of the two-axis manipulator 51, and the output shaft of the steering motor 52 is connected to the mounting frame 531. The steering motor 52 drives the mounting frame 531 to switch between the horizontal and vertical states. Four groups of pneumatic clamps 533 are installed on the mounting frame 531, and the four groups of pneumatic clamps 533 are arranged in an array along the length direction of the mounting frame 531. Each group of pneumatic clamps 533 includes two pneumatic clamps 533, and the pneumatic clamps 533 are rotatably connected to the mounting frame 531 through a plate. The distance between the two pneumatic clamps 533 in the same group is less than the distance between the two conveyor belts 411 located on the same horizontal plane. Two clamping plates 5331 are installed on the clamping jaws of the pneumatic clamps 533, and one end of the clamping plate 5331 away from the pneumatic clamps 533 protrudes from the bottom wall of the mounting frame 531, and a buffer pad is installed on the side walls where the two clamping plates 5331 are close to each other to clamp the frame and reduce damage to the frame.

[0057] A linkage member 532 is installed on the mounting frame 531 , and a servo cylinder 534 is installed on the mounting frame 531 . One end of the linkage member 532 is connected to the servo cylinder 534 , and the other end is connected to four groups of pneumatic clamps 533 to drive the four groups of pneumatic clamps 533 to rotate synchronously.

[0058] When a group of frames are stacked, the two-axis manipulator 51 drives the mounting frame 531 to approach the conveyor belt 411, and the steering motor 52 controls the mounting frame 531 to rotate to a vertical state, so that it does not collide with the cache assembly 41 during rotation. At this time, the servo cylinder 534 controls the clamping plates 5331 on all the pneumatic clamps 533 to be in a horizontal state through the linkage 532. After the four groups of pneumatic clamps 533 are aligned with the four frames, the two-axis manipulator 51 drives the mounting frame 531 to approach the conveyor belt 411 horizontally, and the clamping plates 5331 on the same group of pneumatic clamps 533 clamp the frame between the two conveyor belts 411 of the same group. When the stopper block 413 descends, the servo cylinder 534 drives all the pneumatic clamps 533 to rotate clockwise through the linkage 532, so that the clamping plates 5331 are tilted upward away from the end of the mounting frame 531, driving the frame to leave the conveyor belt 411 while reducing the collision between the frame and the stopper block 413. The two-axis manipulator 51 drives the mounting frame 531 away from the conveyor belt 411, and the steering motor 52 controls the mounting frame 531 to rotate to a horizontal state. The servo cylinder 534 controls the clamping plate 5331 on the pneumatic clamp 533 to rotate to a vertical state through the linkage 532. A group of frames arranged on the vertical plane are removed and rotated to be arranged on the horizontal plane, and sent to the next process for assembly and welding. Repeat the above steps to realize automatic stacking and loading, and improve the efficiency of pre-sorting.

[0059] Reference Figure 5The linkage member 532 includes four rotating rods 5321. The rotating rods 5321 are inserted into the mounting frame 531 and the two ends of the rotating rods 5321 in the length direction are respectively connected to the pneumatic clamps 533 of the same group. The rotating rods 5321 drive the two pneumatic clamps 533 of the same group to rotate synchronously. A linkage rod 5322 is also provided on the four rotating rods 5321. Four rotating shaft seats 5323 are installed on the side of the linkage rod 5322 close to the rotating rod 5321. The four rotating rods 5321 are respectively connected to the linkage rod 5322 through a rotating shaft seat 5323. The housing of the servo cylinder 534 is connected to the mounting frame 531 through a rotating shaft, and the output shaft of the servo cylinder 534 is connected to one of the rotating rods 5321 in the middle through a rotating shaft. The servo cylinder 534 drives the rotating rod 5321 connected thereto to rotate about its axis. The rotation of the rotating rod 5321 drives the linkage rod 5322 to move. The movement of the linkage rod 5322 drives the other three rotating rods 5321 to rotate synchronously.

[0060] The implementation principle of the automatic feeding device for the aluminum frame of the photovoltaic panel in the embodiment of the present application is as follows: the operator piles the neatly stacked long and short frames into the frame 1, and the horizontal moving component 31 first controls the multi-degree-of-freedom manipulator 32 to move to one side, and the multi-degree-of-freedom manipulator 32 drives the suction component 33 to transfer multiple rows of long frames and multiple rows of short frames from the material pile to the four-layer cache component 41 until the cache component 41 is filled and stops. The horizontal moving component 31 controls the multi-degree-of-freedom manipulator 32 to move to the other side to transfer materials, and stops after the cache component 41 on the other side is filled. The cache component 41 separates the frontmost frame from the subsequent frames, and stacks the two long frames and the two short frames into a group. The unloading mechanism 5 cooperates with the cache mechanism 4 to take away a group of materials and put them to the next process for assembly. The loading device of the present application realizes automated pre-sorting before assembly, that is, fully automated sorting, stacking and continuous loading of long and short frames. During the entire process, the operator only needs to stack the material pile to the designated position, which reduces the dependence of the loading process on manpower and improves the efficiency and accuracy of loading.

[0061] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. Photovoltaic panel aluminum frame automatic feeding device, characterized by: The invention comprises a frame (1), wherein a storage mechanism (2) for storing long frames and short frames is arranged in the frame (1), a buffer mechanism (4) is arranged on one side of the storage mechanism (2), and a transfer mechanism (3) is also arranged in the frame (1), wherein the transfer mechanism (3) transfers the long frames and short frames in the storage mechanism (2) to the buffer mechanism (4) for stacking, and the transfer mechanism (3) can transfer a plurality of long frames or a plurality of short frames at one time; a material discharge mechanism (5) is arranged on the side of the buffer mechanism (4) away from the storage mechanism (2), and the material discharge mechanism (5) cooperates with the buffer mechanism (4) to transfer a group of stacked materials to the next process; the transfer mechanism (3) comprises a horizontal moving component (31), A multi-degree-of-freedom manipulator (32) and a suction component (33), wherein the horizontal moving component (31) is arranged in a frame (1), a plurality of cache mechanisms (4) are arranged in a straight line in the frame (1), and the length direction of the horizontal moving component (31) is arranged parallel to the connection direction of the plurality of cache mechanisms (4); one end of the multi-degree-of-freedom manipulator (32) is mounted on the horizontal moving component (31), and the horizontal moving component (31) drives the multi-degree-of-freedom manipulator (32) to reciprocate between the plurality of cache mechanisms (4); the suction component (33) is mounted on the movable end of the multi-degree-of-freedom manipulator (32), and the multi-degree-of-freedom manipulator (32) drives the suction component (33) to move between the storage component and the plurality of cache mechanisms (4) 1) reciprocates between the two layers; the cache mechanism (4) comprises four cache components (41), the four cache components (41) are arranged at intervals in the vertical direction, the two cache components (41) located at the top layer and the bottom layer are used to cache the long frame, and the two cache components (41) located at the middle layer are used to cache the short frame; the distance between the cache components (41) of two adjacent layers can accommodate the movable end and the suction component (33) of the multi-degree-of-freedom manipulator (32) to enter; the cache component (41) comprises a conveying member, a return member, a material blocking member and a material dividing member, the conveying member comprises two conveyor belts (411) driven by a motor, the conveyor belts (411) are installed side by side on the frame, and the two ends in the length direction of the frame are respectively placed On the two conveyor belts (411); the return member is arranged at the head end of the conveyor belt (411), the return member comprises two return plates (412) driven by a cylinder, the two return plates (412) are installed on the side of the two conveyor belts (411) away from each other, the length direction of the two return plates (412) is arranged parallel to the conveyor belt (411), the cylinder drives the two return plates (412) to approach each other to align a row of frame on the conveyor belt (411); the material blocking member comprises two material blocking blocks (413) driven by a cylinder, the material blocking blocks (413) are arranged at the end of the conveyor belt (411), and the top end of the material blocking block (413) can protrude from the top surface of the conveyor belt (411) and abut against the side wall of the frame;The material dividing member is arranged on a side of the material blocking member close to the return member, and the material dividing member comprises two material dividing plates (414) driven by a cylinder, and the material dividing plates (414) are arranged between two conveyor belts (411), and the bottom end of the material dividing plate (414) can abut against the side wall of the upper frame of the conveyor belt (411).

2. The automatic feeding device for aluminum frame of photovoltaic panels according to claim 1 is characterized in that: A plurality of storage mechanisms (2) are arranged in the frame (1), the number of the storage mechanisms (2) is the same as the number of the cache mechanisms (4), and the storage mechanisms (2) in the same group are arranged close to the cache mechanisms (4); a plurality of unloading mechanisms (5) are arranged in the frame (1), the number of the unloading mechanisms (5) is the same as the number of the cache mechanisms (4), and the rhythm of the unloading mechanisms (5) is the same as the rhythm of the cache mechanisms (4).

3. The automatic feeding device for aluminum frame of photovoltaic panels according to claim 1 is characterized in that: The suction assembly (33) comprises a mounting platform (331), an equidistant module (332) and a plurality of suction cup groups; the mounting platform (331) is mounted on the movable end of the multi-degree-of-freedom manipulator (32); the equidistant module (332) is mounted on the mounting platform (331); a plurality of suction cup groups are mounted on a plurality of movable modules of the equidistant module (332); the suction cup group comprises a plurality of vacuum suction cups (333); a vacuum module (334) is mounted on the mounting platform (331); each of the vacuum suction cups (333) is connected to the vacuum module (334); and each group of the vacuum suction cups (333) adsorbs a corresponding long frame or a short frame.

4. The automatic feeding device for aluminum frame of photovoltaic panels according to claim 3 is characterized in that: The vacuum suction cup (333) is a sponge suction cup.

5. The automatic feeding device for aluminum frame of photovoltaic panels according to claim 3 is characterized in that: The installation platform (331) is also provided with an isolation paper suction cup (335). The installation platform (331) is respectively provided with an isolation paper cylinder (336) on two side walls in the length direction of the suction cup group. The isolation paper suction cup (335) is installed on the output shaft of the isolation paper cylinder (336). The isolation paper cylinder (336) drives the isolation paper suction cup (335) to reciprocate in the vertical direction. The isolation paper suction cup (335) is also connected to the vacuum module (334).

6. The automatic feeding device for aluminum frame of photovoltaic panels according to claim 1 is characterized in that: The unloading mechanism (5) comprises a two-axis manipulator (51), a steering motor (52) and a gripping assembly (53); one end of the two-axis manipulator (51) is mounted on the frame (1), and the other end is rotatably connected to the gripping assembly (53); the rotation of the gripping assembly (53) is driven by the steering motor (52); the steering motor (52) drives the gripping assembly (53) to switch between a horizontal state and a vertical state; the two-axis manipulator (51) drives the gripping assembly (53) to approach or move away from a plane where a plurality of blocking blocks (413) are located in a vertical plane, so as to grip the frame on the conveyor belt (411) that is blocked by the blocking blocks (413).

7. The automatic feeding device for aluminum frames of photovoltaic panels according to claim 6 is characterized in that: The gripping assembly (53) comprises a mounting frame (531), a linkage member (532) and four groups of pneumatic clamps (533); the mounting frame (531) is rotatably connected to the movable end of the two-axis manipulator (51); the output shaft of the steering motor (52) is connected to the mounting frame (531); each group of pneumatic clamps (533) comprises two pneumatic clamps (533) rotatably connected to the mounting frame (531); the two pneumatic clamps (533) in the same group are arranged along the length direction of the frame; the distance between the two pneumatic clamps (533) in the same group is smaller than the distance between the two conveyor belts (411) in the same group; a servo cylinder (534) is installed on the mounting frame (531); one end of the linkage member (532) is connected to the servo cylinder (534) and the other end is connected to the four groups of pneumatic clamps (533) to drive the four groups of pneumatic clamps (533) to rotate synchronously.

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