Automatic feeding device for photovoltaic module aluminum frame

Abstract

The invention belongs to the technical field of photovoltaic module frame feeding, and mainly relates to an automatic photovoltaic module aluminum frame feeding device, when frames conveyed by a conveying mechanism on each layer reach a grabbing station, the frames can stay at the same position in the up-down direction due to positioning pieces, and therefore the frame feeding efficiency is greatly improved. And then the servo motor drives the mounting base to rotate by 90 degrees in the direction of the conveying mechanism, so that the lower side face of the mounting base right faces the frames on the multiple grabbing stations, the multiple clamping jaws can grab the frames on the multiple grabbing stations at the same time, the frames are grabbed at the same time instead of being grabbed one by one, the grabbing speed is increased, and then the feeding efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of photovoltaic module frame feeding, and mainly relates to an automatic feeding device for a photovoltaic module aluminum frame. Background Art

[0002] Photovoltaic modules are devices that use the photovoltaic effect to convert sunlight into electrical energy. They are also called solar panels and are the core components of photovoltaic power generation systems. The frames of photovoltaic modules are generally made of aluminum alloy and installed on the glass extension to fix and seal the solar cell modules for easy transportation and installation of photovoltaic modules. The frames can protect the glass edges, strengthen the sealing performance of photovoltaic modules, and improve the overall mechanical strength and load resistance of the modules, thereby extending the life of the modules.

[0003] At present, all major photovoltaic module manufacturers in the industry manually load aluminum frames into clips, which are then used to separate the materials. The module grabs the frame onto a jig, which is then transported to the gluing machine for gluing. However, manual operation is not very efficient.

[0004] Based on the above problems, the patent application document with publication number CN118239224A discloses a photovoltaic frame buffer machine, which includes a frame loading device, a frame conveying device and a frame unloading device. The frame loading device is used to grab the photovoltaic frame and place the photovoltaic frame on the frame conveying device. The frame conveying device includes multiple conveying devices, and the multiple conveying devices can simultaneously convey multiple photovoltaic frames; the frame unloading device can grab the photovoltaic frame according to the needs of the photovoltaic module.

[0005] However, the multiple conveying devices in the photovoltaic frame buffer are arranged in sequence from top to bottom, and in order to enable the frame unloading device to grab the photovoltaic frame on different conveying devices, the discharge ends of the multiple conveying devices are extended in sequence from top to bottom along the conveying direction of the conveying device, which is convenient for the frame unloading device to grab the photovoltaic frame, so that the frame unloading device can grab the photovoltaic frame from top to bottom or from bottom to top in sequence. Because of this structural design of the conveying device, the subsequent frame unloading device can only grab the frame one by one instead of grabbing four frames at the same time, resulting in slow frame loading speed and low loading efficiency. Summary of the invention

[0006] The present invention provides an automatic feeding device for aluminum frames of photovoltaic modules, so as to solve the problem in the prior art that multiple frames cannot be grasped simultaneously, resulting in slow frame feeding speed and low efficiency.

[0007] To solve the above problems, the present invention adopts the following technical solutions: The automatic feeding device for the aluminum frame of photovoltaic modules comprises a feeding unit, a buffer material distribution unit and a pick-and-place unit, wherein the feeding unit is used to move the frame to the buffer material distribution unit, and the pick-and-place unit is used to grab the frame on the buffer material distribution unit. The device is characterized in that the buffer material distribution unit comprises a mounting frame and a plurality of conveying mechanisms sequentially arranged on the mounting frame in an up-down direction and spaced apart from each other, each of the conveying mechanisms is used to transport the frame, each of the conveying mechanisms has a grabbing station, and a positioning piece is provided at a position corresponding to each grabbing station on the mounting frame, and each positioning piece is used to position and block the frame so that the frames on each conveying mechanism are in the same position in the up-down direction; the pick-and-place unit is used to simultaneously The positioned frame is grasped at each grasping station, and the pick-and-place unit includes a three-axis linear module mechanism for moving in three directions and a filing mechanism for placing the corresponding frame. A servo motor and a mounting seat rotatably equipped with a servo motor-driven mounting shaft are provided on the three-axis linear module mechanism. A plurality of clamps for grasping the frame on the corresponding grasping station are rotatably equipped on the mounting seat. A linear telescopic member is provided on the mounting seat, and the linear telescopic member is transmission-connected to the plurality of clamps to drive the plurality of clamps to rotate; the servo motor drives the mounting seat to rotate, and the clamps grasp the frame on the corresponding grasping station, the mounting seat is reset, and the linear telescopic member drives the plurality of clamps to rotate, so that the clamps can place the frame on the filing mechanism at the correct angle.

[0008] The invention has the following beneficial effects: when the frame transported by the conveying mechanism of each layer arrives at the grabbing station, the positioning member can position and block the frame on the corresponding conveying mechanism, and at the same time make these positioned frames be in the same position in the up and down direction, then the servo motor drives the mounting seat to rotate 90° in the direction of the conveying mechanism, so that the lower side of the mounting seat faces the frames on multiple grabbing stations, so that multiple clamps can grab the frames on multiple grabbing stations at the same time, and realize the simultaneous grabbing of the frames instead of grabbing one by one, thereby improving the grabbing speed and thus improving the feeding efficiency; then the three-axis linear module mechanism drives the mounting seat to move upward, so that the grabbed frame can pass over the positioning member, the mounting seat is away from the conveying mechanism, and then the mounting seat is rotated and reset, and the linear telescopic member drives the clamp to rotate 90° in the direction of the conveying mechanism, thereby adjusting the angle of the frame, so that the frame can be correctly placed on the filing mechanism; wherein when the frame is on the conveying mechanism, the placement angle is correct, and the mounting seat grabs the frame after rotation, and then the mounting seat is reset, at this time the placement angle of the frame is wrong, and the clamp needs to be rotated again to make the placement angle of the frame correct.

[0009] Furthermore, a plurality of the clamping claws are rotatably mounted on two opposite sides of the mounting seat, and the two clamping claws on the two opposite sides are used to grab the same frame.

[0010] The invention has the following beneficial effects: the frame is grasped by two clamping claws arranged on opposite sides, thereby ensuring the stability when grasping the frame.

[0011] Furthermore, the mounting seat is rotatably mounted with a plurality of rotating shafts arranged at intervals, and both ends of each rotating shaft are provided with two clamping claws arranged opposite to each other; The fixed end of the linear telescopic member is hinged on the mounting seat, and the movable end of the linear telescopic member is hinged to one of the rotating shafts, so that the rotating shaft is driven to rotate when the linear telescopic member moves telescopically; The same transmission rod is hinged on the plurality of rotating shafts, and the transmission rod moves so that the plurality of rotating shafts rotate at the same angle at the same time.

[0012] The invention has the following beneficial effects: a plurality of rotating shafts can be driven simultaneously through a transmission rod, so the linear telescopic member only needs to drive one rotating shaft to rotate, so that all rotating shafts can rotate in the same way, so that the grasped frame can rotate in the same angle, which is convenient for correctly placing the frame.

[0013] Furthermore, each of the conveying mechanisms is provided with a placement station for placing the frame by the loading unit, and correction mechanisms are arranged relatively on both sides of each of the placement stations, and the two correction mechanisms move toward the frame to correct the placement angle of the frame.

[0014] The invention has the following beneficial effects: after the correction mechanism corrects the placement angle of the frame, the frame moves to the grasping station, so that the position of the frame grasped by the clamping claw is correct.

[0015] Furthermore, each of the correction mechanisms includes a first linear drive member fixed on a mounting frame and a correction plate provided on a movable end of the first linear drive member. The two first linear drives on both sides of the placement station respectively drive the corresponding correction plates to move toward the frame to correct the placement angle of the frame.

[0016] The invention has the following beneficial effects: the correction plate has a plane which faces the frame. When the frame is corrected, the plane will contact one end of the frame, and the correction of the frame is achieved through the two opposite planes.

[0017] Furthermore, a blocking seat and a material dividing plate are movably mounted on the mounting frame along the up and down directions. The blocking seat and the material dividing plate are arranged at intervals along the conveying direction, and the intervals are not less than the width of the frame in the conveying direction. The blocking seat and the material dividing plate move up and down alternately so that the frames lined up on the conveying mechanism are conveyed one by one in the direction of the positioning member.

[0018] The invention has the following beneficial effects: through the cooperation between the blocking seat and the dividing plate, only one frame is moved to the grabbing station at a time, so that the clamping claw can grab the frame correctly.

[0019] Furthermore, the blocking seat is located at the lower side of the corresponding conveying mechanism, and the dividing plate is located at the upper side of the corresponding conveying mechanism.

[0020] Furthermore, the filing mechanism has two pre-placement stations for the clamps to place the frame.

[0021] Furthermore, the loading unit includes a manipulator and a connecting base rotatably mounted on the manipulator, the manipulator is provided with a driving motor, the driving motor drives the connecting base to rotate, the connecting base is provided with a plurality of suction heads for adsorbing the frame on the pallet, and the connecting base is provided with a vacuum generator connected to the plurality of suction heads.

[0022] Furthermore, the connecting seat is provided with a gripper for gripping the gasket between the upper and lower frames of the stacking; The connecting seat is provided with a laser rangefinder, which is used to detect the position of the pallet with the frame and feed back to the manipulator; An optical camera and a light source are arranged on the connection seat. The light source is used to illuminate the pallet with the frame, and the optical camera is used to detect the position of the frame and the interval between adjacent frames, and feed back to the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1 It is a structural schematic diagram of the present invention; Figure 2 for Figure 1 A top view of Figure 3 It is a structural schematic diagram of the feeding unit; Figure 4 It is a structural schematic diagram of the first gripper; Figure 5 It is a structural schematic diagram of the cache material distribution unit; Figure 6 for Figure 5 The enlarged view of point A in the middle; Figure 7 for Figure 5 The enlarged view of point B in the middle; Figure 8 for Figure 5 Enlarged view of point C in the middle; Fig. 9 It is a schematic diagram of the second gripper grabbing the frame from the buffer distribution unit; Fig.10 for Fig. 9 Side view of Fig.11 is a schematic diagram of the structure of the second gripper; Fig.12 This is a schematic diagram of the second gripper grabbing the border; Fig.13 for Fig.12 Enlarged view of point D in the middle.

[0024] Description of reference numerals: 1. Loading unit; 2. Cache and material distribution unit; 3. Pick-up and placement unit; 4. Filing mechanism; 5. First palletizing; 6. Robot; 7. First gripper; 8. Driving motor; 9. Connecting seat; 10. Vacuum generator; 11. Suction head; 12. Clamping hand; 13. Laser rangefinder; 14. Light source; 15. Flexible buffer; 16. Mounting frame; 17. Conveying mechanism; 18. Frame; 19. First linear drive member; 20. Correction plate; 21. Positioning member; 22. Second linear drive member; 23. Blocking seat; 24. Proximity sensor; 25. Third linear drive member; 26. Material distribution plate; 27. Second gripper; 28. Working axis; 29. ​​Servo motor; 30. Mounting seat; 31. Clamping claw; 32. Linear telescopic member; 33. Rotating axis; 34. Transmission rod; 35. Correction mechanism; 36. Second palletizing. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0026] Various non-limiting embodiments of the present invention are described in detail below. Any number of elements in the accompanying drawings is for illustration and not for limitation, and any naming is only for distinction and does not have any limiting meaning. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0027] like Figure 1 , Figure 2 As shown, the automatic feeding device for the aluminum frame of a photovoltaic module includes a feeding unit 1, a buffer material distribution unit 2 and a pick-and-place unit 3. The feeding unit 1 is used to move the frame 18 to the buffer material distribution unit 2, and the pick-and-place unit 3 is used to grab the frame 18 on the buffer material distribution unit 2, and the pick-and-place unit 3 can also correctly place the grabbed frame 18 to complete the feeding. The frame 18 in this embodiment includes two types: a long frame and a short frame, and the method of grabbing the long frame and the short frame is the same. In this embodiment, the correct placement means that the angle and position of the frame placement are suitable for grabbing in subsequent processes.

[0028] Specifically, Figure 1-Figure 3As shown, the feeding unit 1 includes a manipulator 6 and a first gripper 7 rotatably mounted on the manipulator 6. The first palletizer 5 with a long frame, the buffer material distribution unit 2 and the second palletizer 36 with a short frame are sequentially arranged around the manipulator 6. The first gripper 7 is used to grab the long frame of the first palletizer 5 and the short frame of the second palletizer 36. The placement form of the long frame in the first palletizer 5 is the same as the placement form of the short frame in the second palletizer 36. In this embodiment, the long frame is taken as an example for introduction. The first palletizer 5 with a long frame has multiple layers, each layer is composed of multiple long frames placed in sequence, and the layers are separated by gaskets, wherein the gaskets in this embodiment are paper.

[0029] like Figure 3 , Figure 4 As shown, the first gripper 7 includes a connection seat 9, and the manipulator 6 is provided with a driving motor 8. The output end of the driving motor 8 is fixed to the connection seat 9 to drive the connection seat 9 to rotate. The connection seat 9 is provided with a plurality of suction heads 11 for adsorbing the long frame of the first pallet 5 and the short frame on the second pallet 36. The connection seat 9 is provided with a vacuum generator 10 connected to the plurality of suction heads 11. The vacuum generator 10 causes the suction heads 11 to generate suction, thereby adsorbing the corresponding frame 18. At the same time, the connection seat 9 is also provided with a clamping hand 12. When all the frames 18 on the same layer are adsorbed, the gasket needs to be removed. At this time, the clamping hand 12 can be used to clamp the gasket on the first pallet 5 or the second pallet 36, and the gasket is placed in the recovery position to prevent the gasket from affecting the manipulator 6 to grasp the frame 18.

[0030] A laser rangefinder 13 is also provided on the connecting seat 9, which is used to detect the position of the first pallet 5 with a long frame or the second pallet 36 with a short frame, and feed back to the robot 6 so that the robot 6 can accurately move to the position of the first pallet 5 or the second pallet 36.

[0031] An optical camera and a light source 14 are provided on the connecting seat 9. The light source 14 is used to illuminate the first pallet 5 with a long frame or the second pallet 36 with a short frame. The optical camera is used to detect the position of the frame 18 and the interval between adjacent frames 18, and feed back to the manipulator 6 so that the manipulator 6 can accurately grasp the corresponding frame 18.

[0032] The connection base 9 is also provided with a flexible buffer 15, which is located at two opposite edges of the connection base 9. When the suction head 11 adsorbs the frame 18, the flexible buffer 15 first contacts the frame 18 and then undergoes elastic deformation. When the suction head 11 does not adsorb the frame 18, the flexible buffer 15 returns to its original shape.

[0033] Specifically, if Figure 5As shown, the cache material distribution unit 2 includes a mounting frame 16 and a plurality of conveying mechanisms 17 arranged on the mounting frame 16 in sequence and at intervals in the up-down direction, that is, the mounting frame 16 has multiple layers of mounting space, and a conveying mechanism 17 is arranged in each layer of mounting space, and each conveying mechanism 17 is used to transport the frame 18. Each conveying mechanism 17 is provided with a placement station for the manipulator 6 to place the frame 18 and a grabbing station for the pick-and-place unit 3 to grab the frame 18. The manipulator 6 first places the frame 18 at the placement station, and the conveying mechanism 17 conveys the frame 18, so that the frame 18 moves from the placement station to the grabbing station.

[0034] In this embodiment, the conveying mechanism 17 is a belt conveyor. In other embodiments, the conveying mechanism 17 is a chain conveyor.

[0035] In this embodiment, there are four conveying mechanisms 17 , wherein the conveying mechanisms 17 at the top and bottom are used to convey long frames, and the conveying mechanisms 17 at the middle two layers are used to convey short frames.

[0036] In this embodiment, Figure 5 , Figure 6 As shown, a correction mechanism 35 is arranged on both sides of each placement station, and the two correction mechanisms 35 move toward the frame 18 on the conveying mechanism 17 to correct the placement angle of the frame 18. After the correction mechanism 35 corrects the placement angle of the frame 18, the frame 18 moves to the grabbing station, so that the position of the frame 18 grabbed by the pick-and-place unit 3 is correct, which is conducive to the subsequent process.

[0037] Specifically, Figure 5 , Figure 6 As shown, each correction mechanism 35 includes a first linear drive member 19 fixed on the mounting frame 16 and a correction plate 20 provided on the movable end of the first linear drive member 19. The two first linear drives 19 on both sides of the placement station can respectively drive the corresponding correction plates 20 to move toward the frame 18 to correct the placement angle of the frame 18. The correction plate 20 in this embodiment has a plane, which is opposite to one end of the frame 18 on the conveying mechanism 17. When correcting the frame 18, the plane will contact one end of the frame 18, and the correction of the frame 18 is achieved through the two opposite planes.

[0038] In this embodiment, the first linear drive member 19 is a cylinder. In other embodiments, the first linear drive member 19 is a hydraulic cylinder or an electric push rod.

[0039] In this embodiment, each grabbing station is provided with a blocking assembly for blocking the movement of the frame 18, and the plurality of blocking assemblies are at the same position in the vertical direction, so that the blocked frame 18 on each conveying mechanism 17 is at the same position in the vertical direction, and the pick-and-place unit 3 is used to grab the blocked frame 18 at each grabbing station at the same time. Because the frames 18 are at the same position in the vertical direction, the pick-and-place unit 3 can grab all the frames 18 in sequence, without having to grab the frames 18 one by one, saving time and improving efficiency. In this embodiment, being at the same position in the vertical direction means being in the same vertical direction.

[0040] Specifically, if Figure 7 As shown, each blocking assembly includes a positioning member 21 fixed to the end of the corresponding conveying mechanism 17, and the plurality of positioning members 21 are at the same position in the vertical direction, so that the frame 18 blocked by positioning on each conveying mechanism 17 is at the same position in the vertical direction. The positioning member 21 can position and block the frame 18 on the corresponding conveying mechanism 17 to prevent the frame 18 from continuing to move, and at the same time, make the blocked frames 18 at the same position in the vertical direction, so as to facilitate the subsequent gripping of the clamping claws 31 at the same time.

[0041] At the same time, a proximity sensor 24 is also provided at the end of the conveying mechanism 17. When the frame 18 moves to the grabbing station and is blocked by the positioning member 21, the frame 18 is just above the proximity sensor 24. The proximity sensor 24 can detect that the frame 18 has moved into position and will feedback to the corresponding conveying mechanism 17, so that the conveying mechanism 17 will no longer operate. When the proximity sensor 24 does not detect the frame 18, it will also feedback to the conveying mechanism 17, and the conveying mechanism 17 will drive the frame 18 to move toward the grabbing station.

[0042] like Figure 7 , Figure 8 As shown, each blocking assembly further includes a first blocking member and a second blocking member both arranged on the mounting frame 16 , and the first blocking member and the second blocking member are used to block the frame 18 so that only one frame 18 stays on the grabbing station.

[0043] Specifically, if Figure 7 As shown, the first blocking member includes a second linear drive member 22 disposed on the mounting frame 16 and a blocking seat 23 disposed on the movable end of the second linear drive member 22. The second linear drive member 22 drives the blocking seat 23 to move in the up and down directions to block the corresponding frame 18 from moving to the grabbing station, so that only one frame 18 is left on the grabbing station. When there is one frame 18 on the grabbing station, the first blocking member will block all the remaining frames 18 on the corresponding conveying mechanism 17 to prevent these frames 18 from moving to the grabbing station.

[0044] In this embodiment, the second linear drive member 22 is a cylinder. In other embodiments, the second linear drive member 22 is a hydraulic cylinder or an electric push rod.

[0045] Specifically, if Figure 8 As shown, the second blocking member includes a third linear drive member 25 disposed on the mounting frame 16 and a material dividing plate 26 disposed on the movable end of the third linear drive member 25. The third linear drive member 25 drives the material dividing plate 26 to move in the up-down direction to block the frame 18, so that only one frame 18 blocked by the blocking seat 23 moves to the grabbing station. When there is no frame 18 at the grabbing station, the first blocking member no longer blocks the frame 18 from moving toward the grabbing station, but the second blocking member blocks the frame 18 from moving at this time, so that only one frame 18 moves toward the grabbing station.

[0046] The blocking seat 23 and the dividing plate 26 are arranged at intervals along the conveying direction, and the intervals are not less than the width of the frame 18 in the conveying direction. The blocking seat 23 and the dividing plate 26 move up and down alternately, so that the frames 18 lined up on the conveying mechanism 17 are conveyed one by one toward the direction of the positioning member 21. The conveying direction in this embodiment refers to the direction in which the frame 18 moves on the corresponding conveying mechanism 17.

[0047] In this embodiment, the third linear drive member 25 is a cylinder. In other embodiments, the third linear drive member 25 is a hydraulic cylinder or an electric push rod.

[0048] When there is a frame 18 on the grabbing station, the first blocking member will block all the remaining frames 18 on the corresponding conveying mechanism 17 to prevent these frames 18 from moving toward the grabbing station, and the second blocking member will not block the frame 18 at this time. When there is no frame 18 at the grabbing station, the first blocking member will no longer block the frame 18 from moving toward the grabbing station, but the second blocking member will block the frame 18 from moving at this time, allowing only one frame 18 to move toward the grabbing station. When the frame 18 moves to the grabbing station, the first blocking member will move and block the remaining frames 18, and the second blocking member will no longer block the frame 18 at this time, and the frame 18 will move to the first blocking member and be blocked by the first blocking member. Through the cooperation of the first blocking member and the second blocking member, only one frame 18 moves to the grabbing station at a time, which can facilitate the clamp 31 to correctly grab the frame 18.

[0049] In order for the pick-and-place unit 3 to smoothly grab the frame 18, the first blocking member is disposed at the lower side of the corresponding conveying mechanism 17, and the second blocking member is disposed at the upper side of the corresponding conveying mechanism 17. In this way, when grabbing the frame 18, the first blocking member and the second blocking member will not affect the grabbing action of the pick-and-place unit 3 due to their arrangement positions.

[0050] Specifically, if Figure 1 , Figure 2As shown, the pick-and-place unit 3 includes a three-axis linear module mechanism for moving in three directions and a filing mechanism 4 for placing the corresponding frame 18, wherein the three-axis linear module mechanism can move in three directions, so as to better grab the frame 18 from the cache material distribution unit 2, and the frame 18 grabbed by the three-axis linear module mechanism is placed at the set position on the filing mechanism 4, that is, the loading of the frame 18 is completed. The three-axis linear module mechanism has an X-axis, a Y-axis and a Z-axis, and these three axes can move in different directions respectively, and these three directions are perpendicular to each other, wherein the Z-axis is a working axis 28, which can move in the up and down directions. The three-axis linear module mechanism in this embodiment is a prior art, and will not be described in detail in this embodiment.

[0051] The working shaft 28 of the three-axis linear module mechanism is provided with a servo motor 29 and a second gripper 27 driven by the servo motor 29. Fig.11 As shown, the second gripper 27 includes a mounting seat 30 and a clamping jaw 31, and the servo motor 29 is connected to the mounting seat 30 to drive the mounting seat 30 to rotate. The mounting seat 30 is rotatably equipped with a plurality of clamping jaws 31, which are used to grab the frame 18 on the corresponding grabbing station. At the same time, the mounting seat 30 is also provided with a linear telescopic member 32, which is connected to the plurality of clamping jaws 31 to drive the plurality of clamping jaws 31 to rotate.

[0052] like Fig. 9 , Fig.10 As shown, when it is necessary to grab the frame 18 on the conveying mechanism 17, the servo motor 29 drives the mounting seat 30 to rotate 90° toward the conveying mechanism 17, and the clamping claw 31 will grab the frame 18 on the corresponding grabbing station, and the mounting seat 30 rotates and resets, and the linear telescopic member 32 drives the plurality of clamping claws 31 to rotate, so that the clamping claws 31 can correctly place the frame 18 on the filing mechanism 4. When the frame 18 is on the conveying mechanism 17, the placement angle is correct, and the mounting seat 30 grabs the frame 18 after rotation, and then the mounting seat 30 is reset. At this time, the placement angle of the frame 18 is wrong, and the clamping claw 31 needs to be rotated again to make the placement angle of the frame 18 correct. That is, the frame 18 is similar to an angle iron, and the frame 18 has a bottom surface and a side surface. The correct placement of the frame 18 should be that the bottom surface is horizontal and the side surface is vertical. When the frame 18 is in the conveying mechanism 17, the bottom surface is horizontal and the side surface is vertical. However, after the mounting seat 30 rotates, the clamping claw 31 is used to grab the frame 18, and then reset. At this time, the bottom surface of the frame 18 is vertical and the side surface is horizontal. The clamping claw needs to rotate an angle to make the bottom surface of the frame 18 horizontal and the side surface vertical.

[0053] When the frames 18 transported by the conveying mechanism 17 of each layer arrive at the grabbing station, because of the positioning member 21, these frames 18 will stay in the same position in the up and down directions, and then the servo motor 29 drives the mounting seat 30 to rotate 90° toward the direction of the conveying mechanism 17, so that the lower side of the mounting seat 30 faces the frames 18 on multiple grabbing stations, so that multiple clamps 31 can grab the frames 18 on multiple grabbing stations at the same time, realizing simultaneous grabbing of the frames 18 instead of grabbing one by one, thereby improving the grabbing speed and thus improving the feeding efficiency; then the three-axis linear module mechanism drives the mounting seat 30 to move upward, so that the grabbed frame 18 can pass over the positioning member 21, and the mounting seat 30 is away from the conveying mechanism 17, and then the mounting seat 30 rotates and resets, and the linear telescopic member 32 drives the clamp 31 to rotate 90° toward the direction of the conveying mechanism 17, thereby adjusting the angle of the frame 18 so that the frame 18 can be correctly placed on the filing mechanism 4.

[0054] Specifically, Fig.11 As shown, the two opposite sides of the mounting seat 30 are respectively rotatably equipped with a plurality of clamping claws 31, and the two opposite clamping claws 31 on the two sides are used to grab the same frame 18. By grabbing the frame 18 with the two clamping claws 31 arranged on the opposite sides, the stability when grabbing the frame 18 is ensured.

[0055] In this embodiment, there are eight clamps 31 in total, two of which form a group, and this group of clamps 31 grabs the same frame 18, grabbing a total of four frames 18 at a time. The outer clamps 31 on both sides grab the corresponding two long frames, and the middle clamps 31 grab the corresponding two short frames.

[0056] like Fig.12 , Fig.13 As shown, a plurality of rotating shafts 33 arranged at intervals are rotatably mounted on the mounting seat 30, and two clamping claws 31 arranged opposite to each other are provided at both ends of each rotating shaft 33. The fixed end of the linear telescopic member 32 is hinged on the mounting seat 30, and the movable end of the linear telescopic member 32 is hinged to one of the rotating shafts 33, so that the linear telescopic member 32 can drive the rotating shaft 33 to rotate when telescopically moving. The same transmission rod 34 is hinged on the plurality of rotating shafts 33, and the transmission rod 34 moves so that the plurality of rotating shafts 33 rotate at the same angle at the same time.

[0057] In this embodiment, the extending direction of the rotation axis of the mounting seat 30 is consistent with the extending direction of the rotation axis of the clamping jaw 31 , that is, the extending direction of the rotation axis of the mounting seat 30 is consistent with the extending direction of the rotating shaft 33 .

[0058] In this embodiment, the spacing distance between any two adjacent rotation axes 33 is equal to the spacing distance between any two adjacent frames 18 in the vertical direction. The any two adjacent frames 18 in the vertical direction mentioned here refer to any two adjacent frames 18 located on the grabbing station.

[0059] A plurality of rotating shafts 33 can be driven simultaneously through a transmission rod 34 , so the linear telescopic member 32 only needs to drive one rotating shaft 33 to rotate, so that all rotating shafts 33 can rotate in the same manner, so that the grasped frame 18 can rotate at the same angle, which is convenient for correctly placing the frame 18 .

[0060] The filing mechanism 4 is a frame with two pre-placement stations, and the clamp 31 alternately places the captured frame 18 on the corresponding pre-placement station, that is, completes the loading of the frame 18. At the same time, because there are two preventive stations, a one-to-two form is formed.

[0061] Working process of the present invention: The robot 6 drives the first gripper 7 to grab the long frame on the first pallet 5 or the short frame on the second pallet 36, and place it on the cache material distribution unit 2, wherein the long frame is placed on the top and bottom conveying mechanisms 17, and the short frame is placed on the middle two layers of conveying mechanisms 17. The correction mechanism 35 corrects the corresponding frame 18, and then the conveying mechanism 17 conveys the frame 18 to the grabbing station. During the conveying process, the blocking component will move one of the frames 18 to the grabbing station, and the excess frames 18 will be blocked by the first blocking member and the second blocking member to prevent the excess frames 18 from entering the grabbing station.

[0062] Afterwards, the second gripper 27 simultaneously clamps the four frames 18 on the grabbing station, and the servo motor 29 drives the mounting seat 30 to rotate 90° toward the direction of the conveying mechanism 17. The clamp 31 will grab the frame 18 on the corresponding grabbing station, and the mounting seat 30 will reset. The linear telescopic member 32 drives multiple clamps 31 to rotate so that the clamp 31 can correctly place the frame 18 on the filing mechanism 4.

Claims

1. An automatic feeding device for an aluminum frame of a photovoltaic module, comprising a feeding unit, a buffer material distribution unit and a pick-and-place unit, wherein the feeding unit is used to move the frame to the buffer material distribution unit, and the pick-and-place unit is used to grab the frame on the buffer material distribution unit, characterized in that: The cache material distribution unit includes a mounting frame and a plurality of conveying mechanisms arranged on the mounting frame in sequence and at intervals along the up-down direction, each of the conveying mechanisms is used to transport the frame, each of the conveying mechanisms has a grabbing station, and a positioning member is provided at a position corresponding to each grabbing station on the mounting frame, each positioning member is used to position the blocking frame, so that the frames on each conveying mechanism are in the same position in the up-down direction; the pick-and-place unit is used to grab the positioned frame at each grabbing station at the same time, the pick-and-place unit includes a three-axis linear module mechanism for moving in three directions and a filing mechanism for placing the corresponding frame, a servo motor and a mounting seat rotatably equipped with a servo motor drive are provided on the working axis of the three-axis linear module mechanism, a plurality of clamps for grabbing the frame on the corresponding grabbing station are rotatably equipped on the mounting seat, a linear telescopic member is provided on the mounting seat, and the linear telescopic member is transmission-connected to the plurality of clamps to drive the plurality of clamps to rotate; the servo motor drives the mounting seat to rotate, the clamp grabs the frame on the corresponding grabbing station, the mounting seat is reset, and the linear telescopic member drives the plurality of clamps to rotate, so that the clamp can place the frame on the filing mechanism at the correct angle.

2. The automatic feeding device for aluminum frame of photovoltaic modules according to claim 1 is characterized in that: A plurality of the clamping claws are rotatably mounted on opposite sides of the mounting seat, and the two clamping claws opposite to each other on the two sides are used to grab the same frame.

3. The automatic feeding device for aluminum frame of photovoltaic modules according to claim 2 is characterized in that: The mounting seat is rotatably mounted with a plurality of rotating shafts arranged at intervals, and two ends of each rotating shaft are provided with two clamping claws arranged opposite to each other; The fixed end of the linear telescopic member is hinged on the mounting seat, and the movable end of the linear telescopic member is hinged to one of the rotating shafts, so that the rotating shaft is driven to rotate when the linear telescopic member moves telescopically; The same transmission rod is hinged on the plurality of rotating shafts, and the transmission rod moves so that the plurality of rotating shafts rotate at the same angle at the same time.

4. The automatic feeding device for aluminum frame of photovoltaic modules according to claim 1 is characterized in that: Each of the conveying mechanisms is provided with a placement station for the loading unit to place the frame, and correction mechanisms are arranged relatively on both sides of each of the placement stations. The two correction mechanisms move toward the frame to correct the placement angle of the frame.

5. The automatic feeding device for aluminum frame of photovoltaic modules according to claim 4 is characterized in that: Each of the correction mechanisms includes a first linear drive member fixed on a mounting frame and a correction plate arranged on a movable end of the first linear drive member. The two first linear drives on both sides of the placement station respectively drive the corresponding correction plates to move toward the frame to correct the placement angle of the frame.

6. The photovoltaic module aluminum frame automatic feeding device according to claim 1, characterized in that: The mounting frame is movably equipped with a blocking seat and a material dividing plate in the up and down directions. The blocking seat and the material dividing plate are arranged at intervals along the conveying direction, and the intervals are not less than the width of the frame in the conveying direction. The blocking seat and the material dividing plate move up and down alternately so that the frames lined up on the conveying mechanism are conveyed one by one in the direction of the positioning member.

7. The automatic feeding device for aluminum frame of photovoltaic modules according to claim 6 is characterized in that: The blocking seat is located at the lower side of the corresponding conveying mechanism, and the dividing plate is located at the upper side of the corresponding conveying mechanism.

8. The photovoltaic module aluminum frame automatic feeding device according to claim 1, characterized in that: The filing mechanism has two pre-placement stations for the clamping jaws to place the frame.

9. The photovoltaic module aluminum frame automatic feeding device according to claim 1, characterized in that: The loading unit includes a manipulator and a connecting base rotatably mounted on the manipulator, the manipulator is provided with a driving motor, the driving motor drives the connecting base to rotate, the connecting base is provided with a plurality of suction heads for adsorbing the frame, and the connecting base is provided with a vacuum generator connected to the plurality of suction heads.

10. The photovoltaic module aluminum frame automatic feeding device according to claim 9, characterized in that: The connecting seat is provided with a gripper for gripping the gasket between the upper and lower frames; The connecting seat is provided with a laser rangefinder, which is used to detect the position of the pallet with the frame and feed back to the manipulator; An optical camera and a light source are arranged on the connection seat. The light source is used to illuminate the pallet with the frame, and the optical camera is used to detect the position of the frame and the interval between adjacent frames, and feed back to the robot.

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