Photovoltaic module layering device and control method thereof

Abstract

The invention relates to a photovoltaic module layering device and a control method thereof, and belongs to the field of photovoltaic modules. The photovoltaic module sequentially comprises a glass plate, a first EVA adhesive layer, a silicon plate, a second EVA adhesive layer and a back plate. A first EVA adhesive layer and a second EVA adhesive layer in the photovoltaic module can be melted and softened to a certain extent by irradiating and heating the photovoltaic module, and the first EVA adhesive layer and the second EVA adhesive layer are separated from a glass plate or a silicon plate more easily during cutting and separation, so that the abrasion of a cutter to the glass plate and the silicon plate is reduced; according to the ultrasonic vibration cutter, accurate cutter setting can be achieved through the visual assembly, the vibration frequency and the vibration amplitude of the ultrasonic vibration cutter are adjusted in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer, excessive force application of the ultrasonic vibration cutter is avoided, therefore, accurate cutting precision is kept during cutting, and the integrity of a silicon plate and a glass plate during recycling is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of photovoltaic modules, and in particular to a photovoltaic module layering device and a control method thereof. Background Art

[0002] As a large number of crystalline silicon photovoltaic modules installed earlier gradually enter the retirement period, how to efficiently and environmentally handle these waste photovoltaic panels to avoid them becoming a new source of environmental pollution has become a key issue that needs to be solved urgently. Photovoltaic module disassembly is the most important part of photovoltaic module recycling. If the appropriate recycling process can be used to recover intact cell silicon wafers from scrapped photovoltaic modules, the manufacturing cost of photovoltaic modules can be greatly reduced.

[0003] Photovoltaic modules are composed of glass plates, EVA adhesive layers, silicon plates, EVA adhesive layers and backplane layers. The separation of the EVA adhesive layer is the most difficult part of photovoltaic module recycling. Mechanical disassembly, thermal decomposition, chemical methods and other methods are usually used to separate photovoltaic modules. Chemical methods such as inorganic acid or organic solvent dissolution have the advantage of obtaining complete glass and silicon wafers, but they consume a lot of acid, are slow, and require secondary waste liquid treatment. The thermal decomposition method is more efficient and can also obtain complete glass, but the energy consumption and polluting gases are significant. The traditional mechanical disassembly method does not have the above-mentioned environmental pollution problems, but due to the high viscosity between the structural layers of the photovoltaic module, the traditional mechanical disassembly method uses manual disassembly pliers to pull the glass layer and silicon wafer layer of the photovoltaic module apart. Due to the uncontrollable force of the mechanical disassembly, the silicon wafer layer and the glass layer may be broken or left, resulting in poor recycling quality and slow disassembly, which is not conducive to large-scale recycling operations.

[0004] Currently, no effective solution has been proposed to address the problem that existing mechanical disassembly methods are prone to damage the silicon plate and glass during disassembly, making it difficult to separate the complete silicon wafer and glass. Summary of the invention

[0005] The present invention provides a photovoltaic module layering device and a control method thereof to solve the problem that the existing mechanical disassembly method is prone to damage the silicon plate and the glass during disassembly.

[0006] In the first aspect, a photovoltaic module layering device is provided in the present invention, wherein the photovoltaic module comprises a glass plate, a first EVA adhesive layer, a silicon plate, a second EVA adhesive layer and a back plate in sequence, the first side of the silicon plate is bonded by the first EVA adhesive layer, and the second side of the silicon plate is bonded to the back plate by the second EVA adhesive layer, and the layering device comprises: a machine tool, a conveying unit, a preheating assembly, a cutting unit and a separation auxiliary assembly. A gantry is provided on the top of the machine tool, and the two ends of the gantry are respectively fixedly connected to the two sides of the top of the machine tool. The conveying unit comprises a linear module and a first vacuum suction cup, the linear module is mounted on the top of the machine tool, the first vacuum suction cup is mounted on the moving end of the linear module, and the first vacuum suction cup is used to adsorb the back plate of the photovoltaic module. The preheating assembly is mounted on the inner top of the gantry, and is used to irradiate and heat the photovoltaic module under the gantry. The cutting unit includes an ultrasonic vibration knife and a set of symmetrical knife fixing frames, the two knife fixing frames are respectively installed on the inner sides of the two ends of the gantry, and the ultrasonic vibration knife is installed between the two knife fixing frames. The ultrasonic vibration knife is used to cut the first EVA adhesive layer of the photovoltaic module after heating so that the glass plate and the silicon plate of the photovoltaic module can be separated, or to cut the second EVA adhesive layer of the photovoltaic module after heating so that the back plate and the silicon plate of the photovoltaic module can be separated. The separation auxiliary component includes a mechanical arm and a second vacuum suction cup, the mechanical interface of the mechanical arm is connected to the second vacuum suction cup, and the second vacuum suction cup is used to absorb the glass plate of the photovoltaic module so that the glass plate and the silicon plate are separated after the first EVA adhesive layer is cut, or to absorb the silicon plate of the photovoltaic module so that the back plate and the silicon plate are separated after the second EVA adhesive layer is cut.

[0007] Furthermore, the photovoltaic module layering device further comprises:

[0008] The force sensor is mounted on the second vacuum chuck and is used to detect the stress of the second vacuum chuck.

[0009] A processor configured to:

[0010] Acquire real-time stress data of the second vacuum suction cup through a force sensor, and determine real-time stress data of the first EVA adhesive layer or the second EVA adhesive layer according to the real-time stress data of the second vacuum suction cup;

[0011] Determine the real-time elastic modulus of the first EVA adhesive layer according to the real-time stress data of the first EVA adhesive layer; or determine the real-time elastic modulus of the second EVA adhesive layer according to the real-time stress data of the second EVA adhesive layer;

[0012] The vibration frequency and vibration amplitude of the ultrasonic vibration knife are adjusted in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer.

[0013] Furthermore, the photovoltaic module stratification device also includes a processor, a guide rail is symmetrically installed on the inner side of the gantry, a tool fixing frame is slidably installed on the guide rail, a moving structure for lifting the tool fixing frame is arranged on the guide rail, a rotatable locking head is arranged on the tool fixing frame, a driving structure for rotating the locking head is arranged in the tool fixing frame, an ultrasonic vibration knife is installed on the locking head, and a visual component is installed on the tool fixing frame.

[0014] The processor is configured as:

[0015] Acquire real-time image data of the ultrasonic vibration knife through a visual component, compare the real-time image data with target image data, determine the real-time tool state of the ultrasonic vibration knife, and determine the real-time angle of the locking head and / or the real-time height of the tool fixing frame according to the real-time tool state of the ultrasonic vibration knife;

[0016] Maintain the real-time angle of the locking head to a target angle and / or control the real-time height of the tool holder to a target height.

[0017] Furthermore, the driving structure includes a motor, which is installed inside the tool fixing frame, and the motor driving end drives the locking head to rotate.

[0018] Furthermore, the visual component includes a camera and an LED light, both of which are mounted on a tool holder and are used to photograph the ultrasonic vibration knife and the photovoltaic component.

[0019] Furthermore, the first vacuum suction cup includes a suction cup shell and a plurality of square suction cup openings, and the square suction cup openings are made of high temperature resistant material.

[0020] Furthermore, the preheating component includes an infrared lamp tube, a lampshade and a temperature sensor. The lampshade is installed on the inner top of the gantry, the infrared lamp tube is installed on the inner top of the lampshade, and the temperature sensor is installed on the inner top of the lampshade to monitor the temperature of the photovoltaic component.

[0021] The photovoltaic module layering device further includes a processor, which is configured to:

[0022] The real-time temperature of the photovoltaic module is obtained through the temperature sensor, and the heating frequency of the infrared lamp is controlled to keep the real-time temperature within the target temperature range.

[0023] Furthermore, the infrared lamp tube is a black tube heating lamp.

[0024] Furthermore, the linear module includes a ball screw guide, a drive motor and a fixed plate. The ball screw guide and the drive motor are installed on the top of the machine tool. The drive motor is installed and connected to the drive end of the ball screw guide. The fixed plate is installed on the moving end of the ball screw guide, and the fixed plate is fixed to the bottom of the first vacuum suction cup.

[0025] In a second aspect, the present invention provides a control method for a photovoltaic module layering device, the control method comprising: step S101, step S102, step S103, step S104, step S105, step S106, step S107, step S108 and step S109.

[0026] Step S101, controlling the first vacuum suction cup to adsorb the photovoltaic component, and controlling the linear module to drive the photovoltaic component to move to the cutting starting position of the ultrasonic vibration knife;

[0027] Step S102, controlling the black tube heating lamp to heat the photovoltaic module, obtaining the real-time temperature of the photovoltaic module through the temperature sensor during the heating process, and controlling the heating frequency of the infrared lamp to keep the real-time temperature within the target temperature range;

[0028] Step S103, controlling the LED light to illuminate the contact area between the ultrasonic vibration knife and the photovoltaic module;

[0029] Step S104, obtaining real-time image data of the ultrasonic vibration knife through the camera, comparing the real-time image data with the target image data, determining the real-time angle of the ultrasonic vibration knife and the locking head, and controlling the driving structure so that the real-time angle of the ultrasonic vibration knife and the locking head is the target angle;

[0030] Step S105, controlling the linear module to drive the photovoltaic module to move to the cutting end position of the ultrasonic vibration knife;

[0031] Step S106, during the cutting process, real-time image data of the ultrasonic vibration knife is obtained through a camera, the real-time image data is compared with the target image data, the real-time tool state of the ultrasonic vibration knife is determined, the real-time angle of the locking head and / or the real-time height of the tool fixing frame is determined according to the real-time tool state of the ultrasonic vibration knife, the driving structure is controlled so that the real-time angle of the locking head is the target angle and / or the moving structure is controlled so that the real-time height of the tool fixing frame is the target height;

[0032] Step S107, controlling the robot arm to move the second vacuum suction cup to absorb the glass plate or the silicon plate, obtaining real-time stress data of the second vacuum suction cup through the force sensor, and determining the real-time stress data of the first EVA adhesive layer or the second EVA adhesive layer according to the real-time stress data of the second vacuum suction cup;

[0033] Step S108, determining the real-time elastic modulus of the first EVA adhesive layer according to the real-time stress data of the first EVA adhesive layer; or determining the real-time elastic modulus of the second EVA adhesive layer according to the real-time stress data of the second EVA adhesive layer;

[0034] Step S109, adjusting the vibration frequency and vibration amplitude of the ultrasonic vibration knife in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer until the separation of the EVA adhesive layer is completed.

[0035] Compared with the related art, this application has the following beneficial effects:

[0036] 1. By irradiating and heating the photovoltaic module, the first EVA adhesive layer and the second EVA adhesive layer in the photovoltaic module can be melted and softened to a certain extent, so that it is easier to separate the first EVA adhesive layer and the second EVA adhesive layer from the glass plate or the silicon plate during cutting and separation, thereby reducing the wear of the tool on the glass plate and the silicon plate. The tool can be accurately aligned through the visual component, and the vibration frequency and vibration amplitude of the ultrasonic vibration knife can be adjusted in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer to avoid excessive force of the ultrasonic vibration knife, thereby maintaining precise cutting accuracy during cutting and greatly improving the integrity of the silicon plate and glass plate during recycling.

[0037] 2. The characteristic of black tube heating lamp is that it can generate heat but not emit light. The purpose of using black tube heating lamp is to prevent silicon plates from being directly exposed to light, thereby causing light pollution to the silicon plates, which is beneficial to improve the quality of silicon plate recycling.

[0038] 3. The first vacuum suction cup is composed of multiple suction cup units. Each suction cup unit adopts a "U"-shaped groove plus a small square design, so that the photovoltaic module and the suction cup fit perfectly and the sealing effect is better, ensuring the stability of the photovoltaic module during the cutting process. The sealing ring material can withstand a high temperature of 200°C, so that the transmission unit can work normally under preheating conditions.

[0039] 4. By adjusting the power and irradiation time of the infrared lamp, the temperature of the EVA glue layer can be precisely controlled to ensure that it reaches the optimal softening state. This precise temperature control helps to improve the recovery rate and integrity of materials after disassembly of photovoltaic modules.

[0040] 5. The advantage of the vacuum cup is that it can provide uniform and stable adsorption force, which is especially important for smooth and fragile materials such as photovoltaic modules. By precisely controlling the vacuum degree, it can ensure that the module will not be damaged by external force during the transfer process.

[0041] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a device diagram of the present invention.

[0043] Figure 2 yes Figure 1Schematic diagram of the transmission unit structure.

[0044] Figure 3 It is a schematic diagram of the installation structure of the guide rail, tool holder, locking head and vision component.

[0045] Figure 4 It is a schematic diagram of the preheating component structure.

[0046] Figure 5 This is a schematic diagram of the layered working of photovoltaic modules.

[0047] Figure 6 It is a hierarchical flow chart of the device. DETAILED DESCRIPTION

[0048] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0049] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with general skills in the technical field to which this application belongs. "One", "one", "a kind of", "the", "these" and similar words in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions. For example, a process, method and system, product or equipment comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or equipment. "Connect", "be connected", "couple" and similar words involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. "Multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0050] In an embodiment of the present invention, a photovoltaic module stratification device is provided, in which the photovoltaic modules to be stratified include a glass plate, a first EVA adhesive layer, a silicon plate, a second EVA adhesive layer and a back plate in sequence, the glass plate is bonded to the first side of the silicon plate through the first EVA adhesive layer, and the second side of the silicon plate is bonded to the back plate through the second EVA adhesive layer.

[0051] It should be noted that, when the device is in use, only the first EVA adhesive layer and / or the second EVA adhesive layer are heated and separated, thereby obtaining the separated glass plate and silicon plate.

[0052] See also Figure 1 The photovoltaic module layering device at least includes a machine tool 10, a conveying unit 1, a preheating component 8, a cutting unit and a separation auxiliary component; and the photovoltaic module layering device may also include a control system, and the control system includes a processor. A gantry is provided on the top of the machine tool 10, and the two ends of the gantry are respectively fixedly connected to the two sides of the top of the machine tool. The gantry is a bridge-type frame.

[0053] The preheating assembly 8 is installed at the inner top of the gantry, and is used to irradiate and heat the photovoltaic assembly 7 under the gantry. By irradiating and heating the photovoltaic assembly 7, the first EVA adhesive layer and the second EVA adhesive layer in the photovoltaic assembly 7 can be melted and softened to a certain extent, so that it is easier to separate the first EVA adhesive layer and the second EVA adhesive layer from the glass plate or silicon plate during cutting and separation, thereby reducing the wear of the cutter on the glass plate and the silicon plate, and improving the integrity of the silicon plate and the glass plate during recycling. The preheating assembly 8 can preheat the EVA layer to a specific temperature range for easy stratification.

[0054] See also Figure 1 and Figure 4 The preheating assembly 8 may include an infrared lamp tube 81, a lampshade 82 and a temperature sensor 83. The lampshade 82 is mounted on the inner top of the gantry, and the infrared lamp tube 81 is mounted on the inner top of the lampshade 82. Specifically, the infrared lamp tube 81 is fixed to the lampshade 82 by a pipe clamp. The temperature sensor 83 is mounted on the inner top of the lampshade 82 to monitor the temperature of the photovoltaic module 7. The preheating assembly 8 evenly heats the photovoltaic module 7 before the photovoltaic module 7 is cut. The lampshade 82 is designed to protect the lamp tube and concentrate infrared radiation to ensure even heat distribution.

[0055] Among them, the infrared lamp tube 81 is a black tube heating lamp. The characteristic of the black tube heating lamp is that it can generate heat but not emit light. The purpose of using the black tube heating lamp is to prevent the silicon plate from being directly exposed to light, thereby causing light pollution to the silicon plate, which is beneficial to improving the quality of silicon plate recycling. The lampshade 82 surrounds the infrared lamp tube 81 to concentrate heat energy and protect the infrared lamp tube 81. The lampshade 82 can be customized according to the illumination area of ​​the photovoltaic module 7 and the required illumination temperature of 200°C to ensure efficient preheating.

[0056] It should be noted that the above embodiment can melt and soften the first EVA adhesive layer and the second EVA adhesive layer to a certain extent, so that it is easier to separate the first EVA adhesive layer and the second EVA adhesive layer from the glass plate or the silicon plate during cutting and separation.

[0057] When the photovoltaic module layering device includes a control system, the processor of the control system is configured to obtain the real-time temperature of the photovoltaic module 7 through the temperature sensor 83 when controlling the preheating component 8, and control the heating frequency of the infrared lamp 81 to keep the real-time temperature within the target temperature range. By regulating the real-time temperature, the EVA glue layer can always be in the best separation state, which is conducive to the subsequent segmentation operation.

[0058] The beneficial effect of this is that the temperature of the EVA adhesive layer can be accurately controlled by adjusting the power and irradiation time of the infrared lamp 81 to ensure that it reaches the optimal softening state. This precise temperature control helps to improve the recovery rate and integrity of the materials after the photovoltaic module 7 is disassembled.

[0059] See also Figure 1 and Figure 3 The cutting unit includes an ultrasonic vibration knife 4 and a group of symmetrical tool fixing frames 42. The two tool fixing frames 42 are respectively installed on the inner sides of the two ends of the gantry. The ultrasonic vibration knife 4 is installed between the two tool fixing frames 42. The ultrasonic vibration knife 4 is used to cut the first EVA adhesive layer of the heated photovoltaic component 7 so that the glass plate and the silicon plate of the photovoltaic component 7 can be separated, or to cut the second EVA adhesive layer of the heated photovoltaic component 7 so that the back plate and the silicon plate of the photovoltaic component 7 can be separated.

[0060] It should be introduced that the ultrasonic vibration knife 4 is a tool that cuts by high-frequency vibration, which has the effect of smooth cutting surface and high cutting accuracy. The vibration frequency of the ultrasonic vibration knife 4 is adjustable, and is used in conjunction with the preheating component 8 to perform overfrequency vibration layering on the EVA layer to adapt to the EVA layer of waste photovoltaic modules with different degrees of damage. Exemplarily, the ultrasonic vibration knife 4 generates a tiny mechanical force at the contact point between the blade and the material through high-frequency vibration, usually at 20kHz to 40kHz. This high-frequency vibration enables the blade to quickly cut the material and achieve a high-precision layering effect. The acceleration generated by ultrasonic vibration is sufficient to quickly pull the tissue apart to achieve cutting without relying on heat or high mechanical force, so it is suitable for processing brittle and heat-sensitive materials such as EVA. Although the main function of the ultrasonic vibration knife 4 is mechanical, it will also produce a certain thermal effect during use. This thermal effect is due to the fact that when the high-frequency vibration of the ultrasonic wave is absorbed by the medium, part of the energy is converted into heat energy, resulting in a temperature increase. However, the thermal damage of the ultrasonic vibration knife 4 is relatively small, and the temperature brought by the heat generated by the tissue generally does not exceed 80°C. This thermal effect helps to reduce the adhesion of the EVA glue layer to a certain extent, which is more conducive to stratification. The ultrasonic vibration knife will also produce a cavitation effect when working. This effect is due to the ultrasonic energy generating tiny bubbles in the liquid. These bubbles expand and burst rapidly under the action of ultrasonic energy, generating high temperature, high pressure and strong shock waves, which help the EVA to shake off after stratification and complete the task of cutting stratification. The tool state includes geometric features such as position, corner radius, and tip jump. The elastic modulus of the EVA glue is calculated, and the calculated elastic modulus will be fed back to the processor to adjust the frequency of the ultrasonic vibration knife in real time to ensure cutting efficiency and quality and adapt to changes in the physical properties of the glue layer.

[0061] Please refer to Figure 5 , which is a schematic diagram of the ultrasonic vibration knife 4 cutting the photovoltaic module 7. During the cutting, the ultrasonic vibration knife 4 separates the glass plate and the silicon plate by cutting the first EVA adhesive layer.

[0062] It should be noted that the above embodiment can already cut the EVA adhesive layer so as to separate the back plate and the silicon plate of the photovoltaic module 7 .

[0063] When the photovoltaic module layering device includes a control system, a guide rail 41 is symmetrically installed on the inner side of the gantry, and a tool fixing frame 42 is slidably installed on the guide rail 41. A movable structure for lifting the tool fixing frame 42 is arranged on the guide rail 41. The movable structure can use a driving structure in the prior art, such as an electric cylinder and a hydraulic cylinder. The base of the electric cylinder or the hydraulic cylinder is installed at the bottom of the guide rail 41. The base of the tool fixing frame 42 is fixed to the output end of the electric cylinder or the hydraulic cylinder. The lifting of the tool fixing frame 42 is achieved by moving the output end of the electric cylinder or the hydraulic cylinder. A rotatable locking head 46 is arranged on the tool fixing frame 42. A driving structure for rotating the locking head 46 is arranged inside the tool fixing frame 42. Specifically, the driving structure may include a motor, which is installed inside the tool fixing frame 42. The driving end of the motor drives the locking head 46 to rotate. The driving structure may also include a rotating cylinder, which is installed inside the tool fixing frame 42. The driving end of the rotating cylinder drives the locking head 46 to rotate. The ultrasonic vibration knife 4 is installed on the locking head 46, and a visual component 43 is installed on the tool fixing frame 42. The visual component 43 includes a camera and an LED light, both of which are mounted on the tool fixing frame 42 and are used to photograph the ultrasonic vibration knife 4 and the photovoltaic component 7 .

[0064] During the process of aligning the ultrasonic vibration knife 4, the processor of the control system is configured to: obtain real-time image data of the ultrasonic vibration knife 4 through the visual component 43, compare the real-time image data with the target image data, determine the real-time tool state of the ultrasonic vibration knife 4, and determine the real-time angle of the locking head 46 and / or the real-time height of the tool fixing frame 42 according to the real-time tool state of the ultrasonic vibration knife 4. Maintain the real-time angle of the locking head 46 as the target angle and / or control the real-time height of the tool fixing frame 42 as the target height.

[0065] The beneficial effect of this is that the tool can be accurately aligned through the visual component 43, and the tool can be set at the position of the layer to be cut of the photovoltaic component 7. The above operation can be performed during cutting.

[0066] For example, a real-time image of the ultrasonic vibration knife 4 is collected by a camera, and the processor analyzes the real-time image to obtain first image data. The processor compares the first image data with the reference image data, and finds that the angle of the ultrasonic vibration knife 4 is inconsistent with the reference angle. At this time, the driving structure will rotate the locking head 46 until the angle of the ultrasonic vibration knife 4 is consistent with the reference angle. A real-time image of the ultrasonic vibration knife 4 is collected by a camera, and the processor analyzes the real-time image to obtain second image data. The processor compares the second image data with the reference image data, and finds that the height of the ultrasonic vibration knife 4 is inconsistent with the reference height. At this time, the moving structure will raise and lower the tool fixing frame 42 until the height of the ultrasonic vibration knife 4 is consistent with the reference height. The reference height and reference angle here refer to the standard cutting position of the ultrasonic vibration knife 4 and the photovoltaic module 7, which are obtained through data fusion algorithm and machine learning algorithm using intelligent prediction and adjustment of cutting strategy.

[0067] See also Figure 1 The separation auxiliary component includes a robotic arm and a second vacuum suction cup 5. The mechanical interface of the robotic arm is connected to the second vacuum suction cup 5. The second vacuum suction cup 5 is used to absorb the glass plate of the photovoltaic component 7 so that the glass plate and the silicon plate are separated after the first EVA adhesive layer is cut, or to absorb the silicon plate of the photovoltaic component 7 so that the back plate and the silicon plate are separated after the second EVA adhesive layer is cut.

[0068] See also Figure 1 When the photovoltaic module stratification device includes a control system, the photovoltaic module stratification device further includes: a force sensor 6 , which is installed on the second vacuum suction cup 5 and is used to detect the stress of the second vacuum suction cup 5 .

[0069] When adjusting the vibration frequency and vibration amplitude of the ultrasonic vibration knife 4, the processor of the control system is configured to: obtain the real-time stress data of the second vacuum suction cup 5 through the force sensor 6, and determine the real-time stress data of the first EVA glue layer or the second EVA glue layer according to the real-time stress data of the second vacuum suction cup 5. Determine the real-time elastic modulus of the first EVA glue layer according to the real-time stress data of the first EVA glue layer. Or determine the real-time elastic modulus of the second EVA glue layer according to the real-time stress data of the second EVA glue layer. Adjust the vibration frequency and vibration amplitude of the ultrasonic vibration knife 4 in real time according to the real-time elastic modulus of the first EVA glue layer or the second EVA glue layer. Exemplarily, when the real-time elastic modulus is larger, the vibration frequency and vibration amplitude of the ultrasonic vibration knife 4 are smaller.

[0070] The beneficial effects of this are: the processor of the control system can infer the elastic modulus and other mechanical parameters of the EVA glue layer through real-time stress data, which is crucial for understanding the stratification behavior of the material; when the processor detects the change in force during the separation process through the force sensor 6, the processor calculates the elastic modulus and other mechanical parameters based on the feedback stress data, and dynamically adjusts the frequency and amplitude of the ultrasonic vibration knife based on the elastic modulus and other mechanical parameters, which can optimize the stratification process and improve the separation efficiency; this adaptive adjustment mechanism can cope with photovoltaic modules with different degrees of damage, ensuring efficient stratification under various conditions.

[0071] See also Figure 1 and Figure 2 The conveying unit 1 includes a linear module and a first vacuum suction cup 9. The linear module is mounted on the top of the machine tool 10. The first vacuum suction cup 9 is mounted on the moving end of the linear module. The first vacuum suction cup 9 is used to absorb the back plate of the photovoltaic module 7. The first vacuum suction cup 9 is connected to the mechanical interface of the robot arm and the first vacuum suction cup 9 directly absorbs the glass plate.

[0072] The linear module can adopt a variety of structures. Here is an example: the linear module includes a ball screw guide 41, a drive motor and a fixed plate. The ball screw guide 41 and the drive motor are installed on the top of the machine tool 10. The drive motor is connected to the drive end of the ball screw guide 41. The fixed plate is installed on the moving end of the ball screw guide 41 by bolts, and the fixed plate is fixed to the bottom of the first vacuum suction cup 9. The stroke of the ball screw guide 41 is 500mm. In addition, the linear module can also adopt a moving device commonly used in the prior art, such as a slider rail structure driven by a cylinder.

[0073] In addition, the first vacuum suction cup 9 includes a suction cup shell and a plurality of square suction cup openings, and the square suction cup openings are made of high temperature resistant material. The advantage of the vacuum suction cup is that it can provide uniform and stable adsorption force, which is particularly important for smooth and fragile materials such as photovoltaic components 7. By accurately controlling the vacuum degree, it can be ensured that the components will not be damaged by external forces during the transmission process.

[0074] Exemplarily, the first vacuum suction cup 9 is composed of a plurality of suction cup units arranged in an arrangement, and each suction cup unit adopts a "U"-shaped groove plus a small square design, so that the photovoltaic component and the suction cup fit perfectly and the sealing effect is better, thereby ensuring the stability of the photovoltaic component during the cutting process, and the sealing ring material can withstand a high temperature of 200°C, so that the transmission unit can work normally under preheating conditions.

[0075] Through the above specific implementation methods, the ultrasonic vibration layered photovoltaic module device of the present invention can achieve efficient and accurate EVA layer layering, and improve the disassembly efficiency and quality of photovoltaic modules.

[0076] The present invention also provides a control method for a photovoltaic module stratification device, which can be applied to the above-mentioned photovoltaic module stratification device including a control system, and can also be applied to the following photovoltaic module stratification device, which includes: a machine tool 10, a conveying unit 1, a preheating component 8, a cutting unit, a visual component 43, a separation auxiliary component, a processor and a force sensor 6.

[0077] A gantry is provided on the top of the machine tool 10, and the two ends of the gantry are fixedly connected to the two sides of the top of the machine tool. The transmission unit 1 includes a linear module and a first vacuum suction cup 9. The linear module is installed on the top of the machine tool 10. The first vacuum suction cup 9 is installed at the moving end of the linear module. The first vacuum suction cup 9 is used to adsorb the back plate of the photovoltaic module 7. The preheating component 8 includes an infrared lamp tube 81, a lampshade 82 and a temperature sensor 83. The lampshade 82 is installed on the inner top of the gantry, the infrared lamp tube 81 is installed on the inner top of the lampshade 82, and the temperature sensor 83 is installed on the inner top of the lampshade 82. The cutting unit includes an ultrasonic vibration knife 4 and a symmetrically mounted tool holder 42, a guide rail 41 is symmetrically mounted on the inner side of the gantry, the tool holder 42 is slidably mounted on the guide rail 41, a moving structure for lifting the tool holder 42 is arranged on the guide rail 41, a rotatable locking head 46 is arranged on the tool holder 42, a driving structure for rotating the locking head 46 is arranged in the tool holder 42, the ultrasonic vibration knife 4 is mounted on the locking head 46, and a visual component 43 is installed on the tool holder 42. The visual component 43 includes a camera and an LED light, both of which are mounted on the tool holder 42 for photographing the ultrasonic vibration knife 4 and the photovoltaic component 7. The separation auxiliary component includes a mechanical arm and a second vacuum suction cup 5, the mechanical interface of the mechanical arm is connected to the second vacuum suction cup 5, and the second vacuum suction cup 5 is used to adsorb the photovoltaic panel back plate. The force sensor 6 is mounted on the second vacuum suction cup 5.

[0078] The control method of the photovoltaic module layering device is executed by a processor, and the control method includes step S101, step S102, step S103, step S104, step S105, step S106, step S107, step S108 and step S109.

[0079] Step S101, controlling the first vacuum suction cup to adsorb the photovoltaic component, and controlling the linear module to drive the photovoltaic component to move to the cutting starting position of the ultrasonic vibration knife.

[0080] Step S102, controlling the black tube heating lamp to heat the photovoltaic module 7, obtaining the real-time temperature of the photovoltaic module 7 through the temperature sensor 83 during the heating process, and controlling the heating frequency of the infrared lamp 81 to keep the real-time temperature within the target temperature range.

[0081] Step S103 , controlling the LED light to illuminate the contact area between the ultrasonic vibration blade 4 and the photovoltaic assembly 7 .

[0082] Step S104, obtain real-time image data of the ultrasonic vibration knife 4 through the camera, compare the real-time image data with the target image data, determine the real-time angle of the ultrasonic vibration knife 4 and the locking head 46, and control the driving structure so that the real-time angle of the ultrasonic vibration knife 4 and the locking head 46 is the target angle.

[0083] Step S105, controlling the linear module to drive the photovoltaic assembly to move to the cutting end position of the ultrasonic vibration knife.

[0084] Step S106, during the cutting process, real-time image data of the ultrasonic vibration knife 4 is obtained through the camera, the real-time image data is compared with the target image data, the real-time tool state of the ultrasonic vibration knife 4 is determined, the real-time angle of the locking head 46 and / or the real-time height of the tool fixing frame 42 are determined according to the real-time tool state of the ultrasonic vibration knife 4, the driving structure is controlled so that the real-time angle of the locking head 46 is the target angle and / or the moving structure is controlled so that the real-time height of the tool fixing frame 42 is the target height.

[0085] Step S107, control the robot arm to move the second vacuum suction cup 5 to adsorb the glass plate or the silicon plate, obtain the real-time stress data of the second vacuum suction cup 5 through the force sensor 6, and determine the real-time stress data of the first EVA adhesive layer or the second EVA adhesive layer according to the real-time stress data of the second vacuum suction cup 5.

[0086] Step S108, determining the real-time elastic modulus of the first EVA adhesive layer according to the real-time stress data of the first EVA adhesive layer, or determining the real-time elastic modulus of the second EVA adhesive layer according to the real-time stress data of the second EVA adhesive layer.

[0087] Step S109, adjusting the vibration frequency and vibration amplitude of the ultrasonic vibration blade 4 in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer until the separation of the EVA adhesive layer is completed.

[0088] To facilitate understanding of the technical solution, a complete workflow is provided below:

[0089] For example, in a specific overall embodiment, see Figure 6 The method for ultrasonic vibration delamination of photovoltaic modules comprises the following steps:

[0090] 1. Use vacuum suction cups to fix the photovoltaic modules to ensure the stability of the modules.

[0091] 2. Preheat the EVA glue through the infrared preheating system to achieve appropriate flexibility and temperature conditions.

[0092] 3. Use ultrasonic vibration knife for precise cutting, and monitor the cutting status in real time through force sensor and visual system.

[0093] 4. According to the real-time data, the working parameters of the ultrasonic vibration knife are adaptively adjusted and fine-tuned through the PID controller.

[0094] 5. Apply data fusion algorithm and machine learning algorithm to intelligently predict and adjust cutting strategies.

[0095] 6. In the closed-loop control system, real-time feedback adjustment ensures the stability and accuracy of the cutting process.

[0096] 7. Through effective scheduling algorithms, the work of each link can be arranged reasonably to achieve efficient stratification.

[0097] For example, in terms of algorithm optimization, the data of the force sensor 6, the visual component 43 and the temperature sensor 83 are integrated through the data fusion algorithm to form a high-precision state estimation, thereby improving the system's understanding of the current layered state. At the same time, machine learning algorithms, such as reinforcement learning algorithms, are applied to train models through historical data to predict the best cutting parameters and strategies under different conditions, thereby improving the intelligence level of the system.

[0098] The PID controller is used in the cutting process. By adjusting the proportional, integral and differential parameters, the response speed and steady-state accuracy of the system can be optimized. The fixed frame setting of the tool can be rotated, and the blade is adjusted by the visual auxiliary unit to find the best cutting angle. In terms of feedback control mechanism, a closed-loop control system is established. By real-time monitoring of the data of the force sensor 6 and the visual component 43, the operation of the ultrasonic vibration knife 4 is adjusted to ensure the stability and accuracy of the cutting process. In addition, the PID controller is used to manage the frequency and amplitude of the ultrasonic vibration knife to optimize the response speed and steady-state accuracy of the system. In terms of overall system optimization, by optimizing the collaborative working mechanism of each subsystem (the second vacuum suction cup 5, the preheating component, the ultrasonic vibration knife 4 and the robotic arm), the immediacy and accuracy of information transmission and state feedback are ensured. At the same time, an effective scheduling algorithm is designed, and the scheduling algorithm is determined according to the actual situation. Therefore, the working order and time are reasonably arranged according to the scheduling algorithm, the efficiency of the entire layering process is improved, energy consumption is reduced and material loss is reduced. The device adopts adaptive control theory, and dynamically adjusts the working frequency and amplitude of the ultrasonic vibration knife 4 by real-time monitoring of the feedback of the force sensor 6. This dynamic adjustment can adapt to the characteristics of different EVA layers, optimize cutting parameters, improve layering efficiency and quality, and use model predictive control (MPC) technology to pre-calculate the optimal control input based on the mathematical model of the PV module 7 layering process. This helps to solve the system's delays and uncertainties and ensure accurate control of the system under changing conditions.

[0099] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0100] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

Claims

1. A photovoltaic module layering device, the photovoltaic module comprising a glass plate, a first EVA adhesive layer, a silicon plate, a second EVA adhesive layer and a back plate in sequence, the first side of the silicon plate is bonded by the first EVA adhesive layer, and the second side of the silicon plate is bonded to the back plate by the second EVA adhesive layer, characterized in that: The layered device includes: A machine tool (10) is provided with a gantry on its top, and two ends of the gantry are respectively fixedly connected to two sides of the top of the machine tool; A conveying unit (1), comprising a linear module and a first vacuum suction cup (9), wherein the linear module is mounted on the top of a machine tool (10), and the first vacuum suction cup (9) is mounted on a moving end of the linear module, and the first vacuum suction cup (9) is used to absorb a back plate of a photovoltaic module (7); A preheating assembly (8) is installed on the inner top of the gantry and is used to irradiate and heat the photovoltaic assembly (7) below the gantry; A cutting unit, comprising an ultrasonic vibration knife (4) and a group of symmetrical knife fixing frames (42), wherein the two knife fixing frames (42) are respectively mounted on the inner sides of both ends of the gantry, and the ultrasonic vibration knife (4) is mounted between the two knife fixing frames (42), and the ultrasonic vibration knife (4) is used to cut the first EVA adhesive layer of the heated photovoltaic module (7) so that the glass plate and the silicon plate of the photovoltaic module (7) can be separated, or to cut the second EVA adhesive layer of the heated photovoltaic module (7) so that the back plate and the silicon plate of the photovoltaic module (7) can be separated; The separation auxiliary component comprises a mechanical arm and a second vacuum suction cup (5), wherein the mechanical interface of the mechanical arm is connected to the second vacuum suction cup (5), and the second vacuum suction cup (5) is used to absorb the glass plate of the photovoltaic module (7) so that the glass plate and the silicon plate are separated after the first EVA adhesive layer is cut, or to absorb the silicon plate of the photovoltaic module (7) so that the back plate and the silicon plate are separated after the second EVA adhesive layer is cut.

2. The photovoltaic module layering device according to claim 1, characterized in that: The photovoltaic module layering device also includes: a force sensor (6), which is mounted on the second vacuum suction cup (5) and is used to detect the stress of the second vacuum suction cup (5); A processor configured to: Acquiring real-time stress data of the second vacuum suction cup (5) through a force sensor (6), and determining real-time stress data of the first EVA adhesive layer or the second EVA adhesive layer based on the real-time stress data of the second vacuum suction cup (5); Determine the real-time elastic modulus of the first EVA adhesive layer according to the real-time stress data of the first EVA adhesive layer; or determine the real-time elastic modulus of the second EVA adhesive layer according to the real-time stress data of the second EVA adhesive layer; The vibration frequency and vibration amplitude of the ultrasonic vibration knife (4) are adjusted in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer.

3. The photovoltaic module layering device according to claim 1, characterized in that: The photovoltaic module layering device also includes a processor, a guide rail (41) is symmetrically installed on the inner side of the gantry, a tool fixing frame (42) is slidably installed on the guide rail (41), a moving structure for lifting the tool fixing frame (42) is arranged on the guide rail (41), a rotatable locking head (46) is arranged on the tool fixing frame (42), a driving structure for rotating the locking head (46) is arranged in the tool fixing frame (42), an ultrasonic vibration knife (4) is installed on the locking head (46), and a visual component (43) is installed on the tool fixing frame (42); The processor is configured as: Acquiring real-time image data of the ultrasonic vibration knife (4) through a visual component (43), comparing the real-time image data with target image data, determining the real-time tool state of the ultrasonic vibration knife (4), and determining the real-time angle of the locking head (46) and / or the real-time height of the tool fixing frame (42) according to the real-time tool state of the ultrasonic vibration knife (4); The real-time angle of the locking head (46) is maintained at the target angle and / or the real-time height of the tool fixing frame (42) is controlled to be the target height.

4. The photovoltaic module layering device according to claim 3, characterized in that: The driving structure comprises a motor, which is installed inside the tool fixing frame (42), and the driving end of the motor drives the locking head (46) to rotate.

5. The photovoltaic module layering device according to claim 3, characterized in that: The visual component (43) comprises a camera and an LED light, both of which are mounted on a tool fixing frame (42) and are used to photograph the ultrasonic vibration knife (4) and the photovoltaic component (7).

6. The photovoltaic module layering device according to claim 1, characterized in that: The first vacuum suction cup (9) comprises a suction cup shell and a plurality of square suction cup openings, wherein the square suction cup openings are made of high temperature resistant material.

7. The photovoltaic module layering device according to claim 1, characterized in that: The preheating assembly (8) comprises an infrared lamp tube (81), a lamp cover (82) and a temperature sensor (83), wherein the lamp cover (82) is mounted on the inner top of the gantry, the infrared lamp tube (81) is mounted on the inner top of the lamp cover (82), and the temperature sensor (83) is mounted on the inner top of the lamp cover (82) for monitoring the temperature of the photovoltaic assembly (7); The photovoltaic module layering device further includes a processor, which is configured to: The real-time temperature of the photovoltaic assembly (7) is obtained through the temperature sensor (83), and the heating frequency of the infrared lamp (81) is controlled to keep the real-time temperature within the target temperature range.

8. The photovoltaic module layering device according to claim 7, characterized in that: The infrared lamp tube (81) is a black tube heating lamp.

9. The photovoltaic module layering device according to claim 1, characterized in that: The linear module comprises a ball screw guide rail (41), a drive motor and a fixed plate. The ball screw guide rail (41) and the drive motor are mounted on the top of the machine tool (10). The drive motor is connected to the drive end of the ball screw guide rail (41). The fixed plate is mounted on the moving end of the ball screw guide rail (41). The fixed plate is fixed to the bottom of the first vacuum suction cup (9).

10. A control method for a photovoltaic module layering device, characterized in that: The photovoltaic module layering device comprises: A machine tool (10), wherein a gantry is provided on the top of the machine tool (10), and two ends of the gantry are respectively fixedly connected to two sides of the top of the machine tool; A conveying unit (1), comprising a linear module and a first vacuum suction cup (9), wherein the linear module is mounted on the top of a machine tool (10), and the first vacuum suction cup (9) is mounted on a moving end of the linear module, and the first vacuum suction cup (9) is used to absorb a back plate of a photovoltaic module (7); A preheating assembly (8), the preheating assembly (8) comprising an infrared lamp tube (81), a lamp cover (82) and a temperature sensor (83), the lamp cover (82) being mounted on the inner top of the gantry, the infrared lamp tube (81) being mounted on the inner top of the lamp cover (82), and the temperature sensor (83) being mounted on the inner top of the lamp cover (82); A cutting unit, comprising an ultrasonic vibration knife (4) and a symmetrically mounted knife fixing frame (42), a guide rail (41) being symmetrically mounted on the inner side of a gantry, the knife fixing frame (42) being slidably mounted on the guide rail (41), a moving structure for lifting and lowering the knife fixing frame (42) being arranged on the guide rail (41), a rotatable locking head (46) being arranged on the knife fixing frame (42), a driving structure for rotating the locking head (46) being arranged inside the knife fixing frame (42), the ultrasonic vibration knife (4) being mounted on the locking head (46), and a visual component (43) being mounted on the knife fixing frame (42); The visual component (43) includes a camera and an LED light, both of which are mounted on a tool fixing frame (42) and are used to photograph the ultrasonic vibration knife (4) and the photovoltaic component (7); A separation auxiliary component comprises a mechanical arm and a second vacuum suction cup (5), wherein the mechanical interface of the mechanical arm is connected to the second vacuum suction cup (5), and the second vacuum suction cup (5) is used to absorb the photovoltaic panel back plate; processor; A force sensor (6), the force sensor (6) being mounted on the second vacuum suction cup (5); The control method comprises: Step S101, controlling the first vacuum suction cup to adsorb the photovoltaic component, and controlling the linear module to drive the photovoltaic component to move to the cutting starting position of the ultrasonic vibration knife; Step S102, controlling the black tube heating lamp to heat the photovoltaic module (7), obtaining the real-time temperature of the photovoltaic module (7) through the temperature sensor (83) during the heating process, and controlling the heating frequency of the infrared lamp (81) to keep the real-time temperature within the target temperature range; Step S103, controlling the LED light to illuminate the contact area between the ultrasonic vibration knife (4) and the photovoltaic module (7); Step S104, obtaining real-time image data of the ultrasonic vibration knife (4) through a camera, comparing the real-time image data with the target image data, determining the real-time angle of the ultrasonic vibration knife (4) and the locking head (46), and controlling the driving structure so that the real-time angle of the ultrasonic vibration knife (4) and the locking head (46) is the target angle; Step S105, controlling the linear module to drive the photovoltaic module to move to the cutting end position of the ultrasonic vibration knife; Step S106, during the cutting process, real-time image data of the ultrasonic vibration knife (4) is obtained through a camera, the real-time image data is compared with the target image data, the real-time tool state of the ultrasonic vibration knife (4) is determined, the real-time angle of the locking head (46) and / or the real-time height of the tool fixing frame (42) is determined according to the real-time tool state of the ultrasonic vibration knife (4), the driving structure is controlled so that the real-time angle of the locking head (46) is the target angle and / or the moving structure is controlled so that the real-time height of the tool fixing frame (42) is the target height; Step S107, controlling the robot arm to move the second vacuum suction cup (5) to absorb the glass plate or the silicon plate, obtaining real-time stress data of the second vacuum suction cup (5) through the force sensor (6), and determining the real-time stress data of the first EVA adhesive layer or the second EVA adhesive layer according to the real-time stress data of the second vacuum suction cup (5); Step S108, determining the real-time elastic modulus of the first EVA adhesive layer according to the real-time stress data of the first EVA adhesive layer; or determining the real-time elastic modulus of the second EVA adhesive layer according to the real-time stress data of the second EVA adhesive layer; Step S109, adjusting the vibration frequency and vibration amplitude of the ultrasonic vibration knife (4) in real time according to the real-time elastic modulus of the first EVA adhesive layer or the second EVA adhesive layer until the separation of the EVA adhesive layer is completed.

Images