Crystalline silicon plate body off-line conveying device and conveying method

Abstract

The invention discloses a crystalline silicon plate body off-line conveying device and a conveying method. The crystalline silicon plate body off-line conveying device comprises a receiving mechanism, a reversing mechanism, an adjusting mechanism and an extracting mechanism for a mechanical arm to extract a crystalline silicon plate. The receiving mechanism receives the crystal silicon plate and conveys the crystal silicon plate to the reversing mechanism, and the reversing mechanism moves up and down through the second conveying belt so that the crystal silicon plate can be switched from the first conveying direction to the second conveying direction in the whole conveying process. When the crystal silicon plate enters the front section part of the adjusting mechanism, a speed difference is generated on the opposite side of one side of the crystal silicon plate through the speed limiting shaft, so that the offset angle of the crystal silicon plate is corrected. The crystalline silicon plate enters the rear end part of the adjusting mechanism, the center deviation distance of the crystalline silicon plate is pushed and corrected and correspondingly positioned and fixed accurately through the pushing plate, the crystalline silicon plate enters the extracting mechanism to be finally limited and is extracted and shifted by the mechanical arm, and finally accurate positioning and reliable placement of the crystalline silicon plate in the off-line process are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of crystalline silicon plate production, and in particular to a crystalline silicon plate off-line transportation device and a transportation method. Background Art

[0002] Crystalline silicon panels are building materials that are often used in construction or decoration. They can be used to replace ceramic panels as floor paving materials or as wall decoration materials.

[0003] In the actual application process of crystalline silicon panels, in order to achieve a better decoration effect, the size of crystalline silicon panels will be set larger in actual production. In the production process of crystalline silicon panels, after other production process steps, the crystalline silicon panels need to be processed offline for transportation or packaging. When the entire large-sized crystalline silicon panel is transmitted through the transmission device, if the placement position is offset, the crystalline silicon panel will be extracted and moved upward by the robot. The accuracy of the placement position of the crystalline silicon panel cannot be guaranteed during the stacking process, and it is also easy to cause collisions between crystalline silicon panels, or collisions at the end corner structures of the crystalline silicon panels, resulting in incomplete end corners or appearance defects.

[0004] In the prior art offline device, when a robot is used to extract the crystalline silicon plate, in order to overcome the inaccuracy of the placement position, a corresponding switching mechanism or angle swing mechanism needs to be set inside the robot, which will make the overall structure of the robot more complicated and increase the equipment cost. In addition, the complex angle swing mechanism of the robot will also make it difficult to ensure its working durability. Summary of the invention

[0005] The main purpose of the present invention is to overcome the technical problem of inaccurate positioning during the offline process of crystalline silicon panels in the prior art. The present invention proposes a crystalline silicon panel offline transportation device and a transportation method, which can achieve accurate positioning and reliable placement of the crystalline silicon panel during the offline process.

[0006] To achieve the above-mentioned purpose, the present invention proposes a crystalline silicon panel offline transportation device, including a receiving mechanism for receiving the crystalline silicon panel, a switching mechanism connected to the receiving mechanism and used to adjust the conveying direction of the crystalline silicon panel, an adjustment mechanism for adjusting the angle and transmission spacing of the crystalline silicon panel, and an extraction mechanism for a robotic arm to extract the crystalline silicon panel.

[0007] Preferably, a second conveyor belt and a transmission shaft are provided inside the reversing mechanism, and when receiving the crystalline silicon plate, the top surface height of the second conveyor belt is higher than the height of the topmost acting part of the transmission shaft; when the conveying direction of the crystalline silicon plate is changed from the first conveying direction to the second conveying direction, the top surface height of the second conveyor belt is lower than the average height of the topmost acting part of the transmission shaft.

[0008] Preferably, the height of the second conveyor belt changes relative to the transmission height of the transmission shaft, and an up and down floating structure is required. The up and down floating mechanism is arranged below the second transmission shaft. The up and down floating mechanism includes fixed blocks arranged at both ends, and two sliding blocks are arranged between the fixed blocks at both ends. The two sliding blocks are respectively connected to the two telescopic ends of the telescopic rod. When the sliding block moves toward the fixed block to the first position, the second transmission shaft is supported in a first position between the sliding block and the fixed block; when the sliding block slides toward the fixed block to the second position, the second transmission shaft is supported in a second position between the sliding block and the fixed block. When the second transmission shaft is located in the first position and the second position, the height of the second transmission shaft is different.

[0009] Preferably, at least a side surface of the sliding block relative to the fixed block is provided with a plurality of moving track grooves, and the plurality of moving track grooves are arranged up and down along the side surface of the sliding block.

[0010] Preferably, the moving track groove on the side of the sliding block can be divided into two sections, including a first moving track groove and a second moving track groove. The first moving track groove presents a diffuse shape from bottom to top, and the second moving track groove also presents a diffuse shape from bottom to top. The inlet end of the second moving track groove is connected to the outlet end of the first moving track groove.

[0011] Preferably, when the second transmission shaft is in the first position, the horizontal plane corresponding to the center axis of the second transmission shaft is the first horizontal plane, and when the second transmission shaft is in the second position, the horizontal plane corresponding to the center axis of the second transmission shaft is the second horizontal plane, there is a center horizontal plane between the first horizontal plane and the second horizontal plane, and the center horizontal plane has the same distance from the first horizontal plane to the second horizontal plane, and the center axis of the motor transmission shaft of the transmission motor is located in the center horizontal plane.

[0012] Preferably, a speed limiting shaft is arranged inside the adjustment mechanism and near the front position of the reversing mechanism. The speed limiting shaft is arranged in a left-right manner with respect to the central axis of the second conveying direction. A friction block is arranged on the surface of the speed limiting shaft, which contacts the bottom surface of the crystalline silicon board through the friction block. A speed limiting phenomenon occurs in the structure on one side of the crystalline silicon board, and an angular offset occurs on one side of the crystalline silicon board relative to the other side.

[0013] Preferably, the rear of the adjustment mechanism is provided with several driving shafts, and the driving shaft on one side of the crystalline silicon plate is gradually moved upwards by a push rod, and multiple driving shafts on the same side move at the same angular velocity, so that one side of the crystalline silicon plate is gradually and smoothly flipped upwards.

[0014] Preferably, the outer peripheral surface of the push block on the push shaft surface is provided with a plurality of step grooves, and the push shafts on both sides act in opposite directions, and the step grooves on the push block surface on one side are flush with and limited by the edge of the crystalline silicon plate.

[0015] The present invention also proposes a method for conveying the crystalline silicon plate offline conveying device, comprising the following steps:

[0016] Step S1: the receiving mechanism receives the crystalline silicon panel and transmits the crystalline silicon panel to the switching mechanism;

[0017] Step S2: the reversing mechanism moves up and down through the second conveyor belt, so that the crystalline silicon plate switches from the first conveying direction to the second conveying direction during the entire conveying process;

[0018] Step S3: the crystalline silicon plate enters the front part of the adjustment mechanism, and a speed difference is generated between one side of the crystalline silicon plate and the other side through the speed limiting shaft to correct the offset angle of the crystalline silicon plate;

[0019] Step S4: the crystalline silicon plate enters the rear end of the adjustment mechanism, and the center deviation spacing of the crystalline silicon plate is pushed and corrected and correspondingly positioned and calibrated by the pushing plate;

[0020] Step S5: The crystalline silicon plate enters the extraction mechanism for final positioning, and is extracted and displaced by the robotic arm.

[0021] The technical solution of the present invention has the following advantages over the prior art:

[0022] The off-line transport device of the crystalline silicon plate of the technical solution of the present invention comprises a receiving mechanism for receiving the crystalline silicon plate, a reversing mechanism connected to the receiving mechanism and used to adjust the conveying direction of the crystalline silicon plate, an adjusting mechanism for adjusting the deflection angle and transmission spacing of the crystalline silicon plate, and an extracting mechanism for the robot arm to extract the crystalline silicon plate. The crystalline silicon plate is received by the receiving mechanism and transmitted to the reversing mechanism. The reversing mechanism moves up and down through the second conveyor belt so that the crystalline silicon plate switches from the first conveying direction to the second conveying direction during the entire conveying process. The crystalline silicon plate enters the front section of the adjustment mechanism, and a speed difference is generated between one side of the crystalline silicon plate and the other side through the speed limiting shaft to correct the offset angle of the crystalline silicon plate. The crystalline silicon plate enters the rear end of the adjustment mechanism, and the central deflection spacing of the crystalline silicon plate is pushed and corrected and correspondingly positioned and calibrated through the push plate. The crystalline silicon plate enters the final limit inside the extraction mechanism, and is extracted and displaced by the robot arm, and finally realizes the precise positioning and reliable placement of the crystalline silicon plate during the off-line process. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0024] Figure 1 It is a plan layout diagram of the crystalline silicon plate off-line transportation device of the present invention;

[0025] Figure 2 It is the working principle diagram of the up and down floating mechanism of the present invention;

[0026] Figure 3 This is a working principle diagram of the speed limiting shaft and the crystalline silicon plate for angle correction of the present invention;

[0027] Figure 4 This is a working principle diagram of adjusting the distance between the driving shaft and the crystalline silicon plate of the present invention.

[0028] Description of Figure Numbers:

[0029] 1. Receiving mechanism; 11. Import end; 12. First conveyor belt; 13. First transmission shaft; 14. Export end; 2. Reversing mechanism; 21. Second conveyor belt; 22. Transmission shaft; 221. First horizontal plane; 222. Second transmission shaft; 223. Center horizontal plane; 224. Transmission shaft bump; 23. Import end; 24. Other side; 25. Second transmission shaft; 26. Main transmission belt; 27. Transmission motor; 271. Motor transmission shaft; 3. Adjustment mechanism; 4. Extraction mechanism; 41, side limit plate; 42, tail limit plate; 5, up and down floating mechanism; 51, fixed block; 52, sliding block; 53, telescopic rod; 54, support block; 6, moving track groove; 61, first moving track groove; 62, second moving track groove; 7, speed limiting shaft; 71, friction block; 8, push rod; 9, pushing shaft; 91, push block; 92, step groove; 101, first conveying direction; 102, second conveying direction; 103, crystalline silicon plate.

[0030] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] 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. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figures 1 to 4 The present invention provides a crystalline silicon plate offline transportation device and a transportation method.

[0033] The crystalline silicon panel offline transportation device in the embodiment of the present invention includes a receiving mechanism 1 for receiving the crystalline silicon panel, a switching mechanism 2 connected to the receiving mechanism 1 and used to adjust the conveying direction of the crystalline silicon panel, an adjustment mechanism 3 for adjusting the angle and transmission spacing of the crystalline silicon panel, and an extraction mechanism 4 for a robotic arm to extract the crystalline silicon panel.

[0034] In the crystalline silicon panel offline transportation device of the present invention, the direction between the receiving mechanism 1 and the reversing mechanism 2 is used as the first conveying direction 101, and the direction between the reversing mechanism 2 and the adjusting mechanism 3 is used as the second conveying direction 102. In the actual production site, in order to ensure the reasonable layout of the overall device and each mechanism, the first conveying direction 101 and the second conveying direction 102 can be arranged perpendicular to each other.

[0035] Among them, the receiving mechanism 1 of the embodiment of the present invention has an inlet end 11 connected to the outlet end of other conveying production lines of crystalline silicon panels, and the crystalline silicon panels can enter the interior of the receiving mechanism 1 through the inlet end 11. The interior of the receiving mechanism 1 is provided with a plurality of first conveyor belts 12 arranged side by side along the first conveying direction 101, and the plurality of first conveyor belts 12 are respectively connected with sprocket wheels, and the plurality of sprocket wheels are connected to the same first transmission shaft 13 for driving for transmission. The receiving mechanism 1 conveys the crystalline silicon panels toward the direction of the reversing mechanism 2 through the plurality of first conveyor belts 12.

[0036] In addition, the reversing mechanism 2 of the embodiment of the present invention is internally provided with a plurality of second conveyor belts 21 and a plurality of transmission shafts 22, wherein the plurality of second conveyor belts 21 and the plurality of first conveyor belts 12 are arranged in a front-to-back relationship along the first conveying direction, and the second conveyor belts 21 and the first conveyor belts 12 are in a front-to-back parallel relationship, and the crystalline silicon plate is transported from the first conveyor belt 12 to the second conveyor belt 21.

[0037] Preferably, in order to enable the crystalline silicon plate to smoothly enter from the first conveyor belt 12 to the second conveyor belt 21, the inlet end 23 of the second conveyor belt 21 of the embodiment of the present invention is at the same height in the vertical direction as the outlet end 14 of the first conveyor belt, so that the crystalline silicon plate can smoothly enter from the first conveyor belt 12 to the second conveyor belt 21. In addition, the other side 24 of the second conveyor belt 21 opposite to its inlet end 23 is higher than the inlet end 23. If some of the crystalline silicon panels are stacked during the process of going offline, when the front crystalline silicon panel gradually enters the second conveyor belt 21 from the first conveyor belt 12, due to the gradual increase in the height of the second conveyor belt 21 from its inlet end along the first conveying direction 101, when the front crystalline silicon panel is stacked with the next crystalline silicon panel, the front crystalline silicon panel has an upward movement trend after entering the second conveyor belt 21, and a downward pressing roller can be set above the outlet end 14 of the first conveyor belt 12, so that the front crystalline silicon panel can be actively flipped downward relative to the next crystalline silicon panel, so as to avoid the two crystalline silicon panels in front and behind from being unable to separate due to partial stacking. More preferably, the downward pressing roller can have a braking function, so that the crystalline silicon panel located on the first conveyor belt 12 can avoid sudden forward movement when it has not yet escaped from the first conveyor belt 12, so as to control the conveying rhythm of each crystalline silicon panel.

[0038] The reversing mechanism 2 of the embodiment of the present invention has a plurality of second conveyor belts 21 and a plurality of transmission shafts 22 arranged side by side inside, and the second conveyor belts 21 and the transmission shafts 22 are arranged to extend along the first conveying direction 101. At the same time, the second conveyor belts 21 and the transmission shafts 22 are arranged in an interval manner. Since the crystalline silicon plate needs to have a speed reduction and reversing action when it enters the reversing structure 2 from the receiving mechanism 1. Therefore, the second conveyor belt 21 inside the reversing mechanism 2 also adopts a belt transmission method to receive the crystalline silicon plate transmitted from the receiving mechanism 1. In the actual application process, at the first time point of receiving the crystalline silicon plate, the average height of the top surface of the second conveyor belt 21 is higher than the height of the topmost action part of the transmission shaft 22, and the process of the crystalline silicon plate reversing, that is, when it is converted from the first conveying direction 101 to the second conveying direction 102, that is, at the second time point, the average height of the top surface of the second conveyor belt 21 is lower than the average height of the topmost action part of the transmission shaft 22, so as to realize the switching of the crystalline silicon plate from the second conveyor belt 21 to the transmission shaft 22 for transportation.

[0039] Specifically, in order to realize that the height of the action surface of the second conveyor belt 21 changes with the first time point and the second time point, the second conveyor belt 21 needs to be configured with an up and down floating structure during the uploading and descending process. The second conveyor belt 21 is a belt drive method, and the front and rear ends of the conveyor belt of the second conveyor belt 21 are respectively connected with drive pulleys, and the drive pulleys on the same side are simultaneously connected to the second drive shaft 25, and the second drive shaft 25 is connected to the main drive belt 26, and the power is transmitted to the direction of the second drive shaft 25 through the main drive belt 26, so as to realize the simultaneous transmission of multiple drive pulleys, that is, all the second conveyor belts 21 are simultaneously transmitted.

[0040] Preferably, the up-down floating mechanism 5 of the embodiment of the present invention is arranged below the second transmission shaft 25, and the up-down floating mechanism 5 includes fixed blocks 51 arranged at both ends, and two sliding blocks 52 are arranged between the fixed blocks 51 at both ends, and the two sliding blocks 52 are respectively connected to the two telescopic ends of the telescopic rod 53, and when the sliding block 52 moves to the first position in the direction of the fixed block 51, the second transmission shaft 25 is supported in the first shape between the sliding block 52 and the fixed block 51. When the sliding block 52 slides to the second position in the direction of the fixed block 51, the second transmission shaft 25 is supported in the second shape between the sliding block 52 and the fixed block 51, and when the second transmission shaft 25 is in the first shape and the second shape, the height of the second transmission shaft 25 is different.

[0041] More specifically, at least a plurality of moving track grooves are provided on the side of the sliding block 52 relative to the fixed block 51, and a plurality of moving track grooves 6 are provided up and down along the side of the sliding block 52, wherein the moving track groove 6 on the side of the sliding block 52 of the embodiment of the present invention can be divided into two sections, including a first moving track groove 61 and a second moving track groove 62. The first moving track groove 61 presents a diffuse shape from bottom to top, and the second moving track groove 62 also presents a diffuse shape from bottom to top, the inlet end of the second moving track groove 62 is connected to the outlet end of the first moving track groove 61, and the connection position between the two can be a smooth transition, so that when the second transmission shaft 25 moves from the upper and lower moving track grooves, there will be no sudden height change.

[0042] When the telescopic rod 53 extends outward and pushes the sliding block 52 to move toward the fixed block 51, and the sliding blocks 52 on both sides move to the first position at the same time, the second transmission shaft 25 moves downward under its own weight and enters the first moving track groove 61 and the relative space between the fixed block 51, so the actual position of the second transmission shaft 25 is at a low position, so that the transmission belt surface of the second conveyor belt 21 is lower than the action height of the transmission shaft 22. At this time, the crystalline silicon plate contacts the transmission shaft 22 and can be driven in the second transmission direction 102 by the transmission force of the transmission shaft 22. When the sliding block 52 is further pushed to move toward the fixed block 51 by the telescopic rod 53, the second transmission shaft 25 moves upward to the second position corresponding to the groove of the second moving track 62. At this time, the second transmission shaft 25 is at a high position, and the transmission surface of the second conveyor belt 21 is higher than the actual action height of the transmission shaft 22. At this time, the bottom surface of the crystalline silicon plate contacts and drives the transmission surface of the second conveyor belt 21.

[0043] Preferably, the first moving track groove 61 and the second moving track groove 62 of the embodiment of the present invention can be symmetrically arranged on the corresponding sides of the fixed block 51 and the sliding block 52, so that the space between the sliding block 52 and the fixed block 51 is provided with a lower bell-mouth shaped space and an upper bell-mouth shaped space, and the bottom of the upper bell-mouth shaped space is connected to the lower bell-mouth shaped space.

[0044] More preferably, a support block 54 is arranged below the space between the sliding block 52 and the fixed block 51 of the embodiment of the present invention, and an elastic support member or a damping member may be provided at the bottom of the support block 54, and the inner wall surface of the first moving track groove 61 is a smooth transition side surface, so that when the second transmission shaft 25 is rising or falling, the circumferential surface of the second transmission shaft 25 fits with the inner wall surface of the first moving track groove 61, and is supported by the support block 54 and rises and falls slowly.

[0045] In addition, as described above, the second conveyor belt 21 needs to be lower in height than the side facing the first conveyor belt 12 than the side away from the first conveyor belt 12. In the embodiment of the present invention, the slope of the inclined side between the sliding block 52 and the fixed block 51 on the side away from the first conveyor belt 12 can be set to be greater than the slope of the inclined side between the sliding block 52 and the fixed block 51 on the other side. Alternatively, the length of the telescopic rod 53 on the side away from the first conveyor belt 12 is set to be greater than the length of the telescopic rod on the other side, so that the actual effective length of the telescopic rod 53 away from the first conveyor belt 12 is increased, and the relative space gap between the sliding block 52 and the fixed block 51 is smaller.

[0046] In addition, the second transmission shaft 25 of the present invention can change between the first shape and the second shape, and the second transmission shaft 25 is rotated by the main transmission belt 26, and the other end of the main transmission belt 26 is connected to the motor transmission shaft 271 of the transmission motor 27. The vertical height of the central axis of the motor transmission shaft 271 of the transmission motor 27 in the embodiment of the present invention is located within the horizontal extension space of the vertical space defined by the first shape and the second shape of the second transmission shaft 25.

[0047] See also Figure 2 More preferably, when the second transmission shaft 25 is in the first position, the horizontal plane corresponding to the center axis of the second transmission shaft 25 is the first horizontal plane 221, and when the second transmission shaft 25 is in the second position, the horizontal plane corresponding to the center axis of the second transmission shaft 25 is the second horizontal plane 222, and there is a center horizontal plane 223 between the first horizontal plane 221 and the second horizontal plane 221, and the center horizontal plane 223 has the same distance with the first horizontal plane 221 and the second horizontal plane 222, so the center axis of the motor transmission shaft 271 of the transmission motor 27 is located in the center horizontal plane 223. Since the second transmission shaft 25 moves between the first position and the second position, when the second transmission shaft 25 is located in the first position or the second position, the distance between the center axis of the second transmission shaft 25 and the center axis of the transmission shaft of the transmission motor 27 is the maximum distance, and the second transmission shaft 25 moves between the first position and the second position, and the distance between the center axis of the second transmission shaft 25 and the center axis of the transmission shaft of the transmission motor 27 gradually decreases and gradually increases. Therefore, when the second transmission shaft 25 moves between the first position and the second position, both ends of the main transmission belt 26 will be partially loosened from the second transmission shaft 25, and the second transmission shaft 25 moves relatively between the sliding block 52 and the fixed block 51 to switch the position between the first position and the second position, and during the switching process, the main transmission belt 26 will not actually be tensioned due to the increase in length.

[0048] When the crystalline silicon plate just enters the interior of the reversing mechanism 2, the crystalline silicon plate is received by the second conveyor belt 21. At this time, the crystalline silicon plate can be in a stationary state. In order to correct the angle deflection of the crystalline silicon plate during the actual conveying process, a corresponding camera is set above the reversing mechanism 2 to take a photo of the crystalline silicon plate in a stationary state, and the photo of the crystalline silicon plate is compared with the standard photo. It is necessary to calibrate the actual central axis of the crystalline silicon plate along the second conveying direction 102. The actual central axis is the central axis when the left and right sides of the crystalline silicon plate are symmetrical, and the standard central axis of the standard photo of the crystalline silicon plate is the crystalline silicon plate in a standard and left-right symmetrical position. By comparing the deflection angle between the standard central axis and the actual central axis, it is determined whether the crystalline silicon plate is deviated to the left or right. At the same time, by marking the offset distance between the center position of the standard central axis and the center position of the actual central axis, for example, a positive number is deviated to the left, and a negative number is deviated to the right.

[0049] When the crystalline silicon plate is inside the reversing mechanism 2 and is not in the standard position, that is, when there is a certain deviation in its placement position and / or angle, when it continues to be transported along the second conveying direction 102 through the reversing mechanism 2, if the corresponding placement position and angle adjustment mechanism is not set, the crystalline silicon plate will not reach a suitable or accurate placement position during the subsequent transmission process, and when the crystalline silicon plate with a placement position and / or angle deviation continues to move along the second conveying direction 102 to the robot adsorption station, the crystalline silicon plate is adsorbed by the robot arm equipped with a suction cup. If the crystalline silicon plate has a large deviation angle, when the robot arm after adsorption places the crystalline silicon plate to the designated station, the end corner of the crystalline silicon plate will collide with the tooling of the designated station, causing the collapse of its end corner.

[0050] In the reversing mechanism 2 of the present invention, when the second conveyor belt 21 receives the crystalline silicon plate and is in a stationary state, the second conveyor belt 21 moves downward, and the crystalline silicon plate is completely supported by the transmission shaft 22 at this time, and the transmission shaft 22 on the reversing mechanism rotates toward the second conveying direction 102, so that the crystalline silicon plate enters the adjustment mechanism 3 along the second conveying direction 102.

[0051] Please refer to Figures 1 to Figure 4The adjustment mechanism 3 of the embodiment of the present invention has a plurality of transmission shafts 22 arranged at intervals along the second conveying direction 102, and a transmission shaft protrusion 224 is arranged on the outer peripheral surface of the transmission shaft 22, and the crystalline silicon plate is supported by the transmission shaft protrusion 224, and a speed limiting shaft 7 is arranged inside the adjustment mechanism 3 and near the front position of the reversing mechanism 2. The speed limiting shaft 7 is preferably arranged in a left-right manner with respect to the central axis of the second conveying direction 102, that is, a group of speed limiting shafts 7 are arranged on the left side of the adjustment mechanism 3, and another group of speed limiting shafts 7 are also arranged on the right side of the adjustment mechanism 3, and a friction block 71 is arranged on the surface of the speed limiting shaft 7. Preferably, the friction block 71 can be a rubber block, and is in contact with the bottom surface of the crystalline silicon plate 103 through the friction block 71, see Figure 3 , so that the structure on one side of the crystalline silicon plate 103 has a speed limiting phenomenon. And each speed limiting shaft 7 has one end hingedly connected to the center position of the adjustment mechanism 3, and the other end is connected through a push rod 8. By moving the other end of the speed limiting shaft 7 upward through the push rod 8, the other end of the speed limiting shaft 7 can be protruded upward, and the friction block 71 can be protruded upward and exceed the outer peripheral surface of the protrusion provided on the outer periphery of the transmission shaft 22, so that it can contact the bottom surface of the crystalline silicon plate. When the push rod pulls the speed limiting shaft to move downward to the lowest position, the friction block 71 at this time will not exceed the transmission shaft protrusion 224 on the outer periphery of the transmission shaft 22, and the crystalline silicon plate can also be pushed by the transmission shaft 22 to move along the second conveying direction 102.

[0052] A driving shaft 9 is arranged at the rear position of the adjustment mechanism 3 away from the reversing mechanism 2, wherein the outer circumference of the driving shaft 9 is provided with a pushing block 91 which is in a cone shape as a whole, and the outer circumference of the pushing block 91 is provided with a plurality of step grooves 92. One end of the driving shaft 9 is hingedly connected to the middle position of the adjustment mechanism 3, and the other end of the driving shaft 9 is connected to the push rod 8, and the driving shaft 9 is swung upward by the push rod 8, so that the pushing block 91 part of the surface of the driving shaft 9 is higher than the transmission shaft protrusion 224 on the outer circumference of the transmission shaft 22, so that the crystalline silicon plate 103 can be pushed to the left or to the right. In addition, the outer circumference of the pushing block 91 is provided with a step groove 92, and the step groove 92 can be axially arranged along the outer circumference of the pushing block 91.

[0053] The crystalline silicon plate 103 can be switched from the first transmission direction 101 to the second transmission direction 102 by the reversing mechanism 2, and the angle difference between the actual placement position and the standard position of the crystalline silicon plate 103 and the distance difference between the center points can be detected in the reversing mechanism 2. The crystalline silicon plate 103 is transported to the inside of the adjustment mechanism 3 by the transmission shaft 22 of the reversing mechanism 2. When the crystalline silicon plate 103 enters the interior of the adjustment mechanism 3, the other end of the speed limit rod 7 is first flipped upward relative to the middle position of the adjustment mechanism 3 through the corresponding push rod 8, so that the friction block 71 contacts the bottom surface of the crystalline silicon plate 103, and the speed limit rod 7 on the other side is not flipped upward by the push rod 8. Therefore, one side of the crystalline silicon plate 103 is frictionally contacted by the friction block, which reduces the transmission speed of the corresponding side of the crystalline silicon plate 103, while the other side of the crystalline silicon plate 103 is not frictionally decelerated. Therefore, the other side of the crystalline silicon plate 103 can also maintain a relatively constant speed for movement. It should be noted that when the crystalline silicon plate 103 is subjected to friction and the transmission speeds on both sides are different, one side of the crystalline silicon plate 103 can be rotated relative to the other side, so that the crystalline silicon plate 103 can move along the direction of the corrected deflection when it originally has a deflection.

[0054] Preferably, in order to correct the angle of the crystalline silicon plates 103 of different sizes, friction blocks 71 of different outer sizes can be arranged on the outer circumference of the speed limiting shaft 7 from the middle to the end. For example, multiple friction blocks 71 are arranged on the outer circumference of the speed limiting shaft 7, and the outer circumference of the outer size of the friction blocks 71 increases in sequence along the axial direction of the speed limiting shaft 7 outward. The small-sized friction blocks 71 close to the inside of the adjustment mechanism 3 can be applied to the crystalline silicon plates 103 of smaller size, and the large-sized friction blocks 71 far from the middle position of the adjustment mechanism 3 can be applied to the crystalline silicon plates 103 of larger size. In addition, in order to adjust the angle of the crystalline silicon plate to the most suitable angle, when the crystalline silicon plate 103 is transported along the second conveying direction 102, the corresponding actions are respectively performed on the crystalline silicon plate 7 at different times through the multiple speed limiting shafts 7. On the same side of the adjustment mechanism 3, multiple speed limiting shafts 7 are set, such as the first speed limiting shaft, the second speed limiting shaft, and the third speed limiting shaft. When the crystalline silicon plate 103 has an offset angle exceeding the first threshold range, the first speed limiting shaft is moved upward by the first angle to enable it to contact the bottom surface of the crystalline silicon plate. In this way, the original offset angle is reduced to the offset angle within the second threshold range. If the offset angle is still greater than the second threshold range, the second speed limiting shaft is moved upward by the second angle to enable it to contact the bottom surface of the crystalline silicon plate. By judging whether the offset angle after the second change meets the offset angle within the third threshold range, if the offset angle after the second change is greater than the third threshold range, the third speed limiting shaft is moved upward by the third angle to enable it to contact the bottom surface of the crystalline silicon plate 103, and the friction block on the third speed limiting shaft causes one side of the crystalline silicon plate to rotate relative to the other outer side and rotate to a standard placement position.

[0055] In the actual production process, the crystalline silicon board 103 may undergo multiple offset angle adjustment processes. In order to make the adjustment of the angle of the crystalline silicon board 103 faster and more accurate, the actual offset angle of the crystalline silicon board can be considered as the first factor, the transmission speed of the drive shaft 22 can be considered as the second factor, and the friction coefficient of the friction block 71 can be considered as the third factor. In the actual transmission process of the crystalline silicon board 103, the actual offset angle of the crystalline silicon board 103 can be detected in real time by a camera. At the same time, the rotation speed of the drive shaft 22 and the friction coefficients of different friction blocks 71 can be considered to convert the upward flipping angle of the speed limit shaft 7. By setting different flipping angles of the speed limit shaft at different positions, the crystalline silicon board 103 can overcome the offset angle to the correct position.

[0056] Preferably, in other embodiments of the present invention, the flipping angles of the limit shafts 7 at different positions gradually decrease along the second conveying direction 102, so that the crystalline silicon plate 103 is subjected to a relatively large angle limit shaft 7 during actual transmission to overcome a larger proportion of deflection angle, and then the speed of the crystalline silicon plate is limited by a subsequent speed limiting shaft 7 with a smaller flipping angle to achieve a smaller proportion of deflection angle, and gradually overcome the deflection angle to the standard conveying position.

[0057] Preferably, in other embodiments of the present invention, the limit shafts 7 at different positions can be combined with crystalline silicon plates with specific friction coefficients, and each limit shaft 7 uses a fixed flip angle, and the friction coefficients of the friction blocks of different limit shafts 7 are gradually reduced, that is, a friction block with a larger friction coefficient is used to overcome a larger proportion of deflection angles, and then the subsequent friction block with a smaller friction coefficient is used to limit the speed of the crystalline silicon plate 103 to achieve a smaller proportion of deflection angles, and gradually overcome the deflection angle to the standard conveying position. For crystalline silicon plates with different placement angles, the angle is detected in advance through the reversing mechanism 2, so that the servo push rod is used as the push rod 8, and the limit shaft 7 is pushed to the optimal flip angle.

[0058] After the crystalline silicon plate passes through all the speed limiting shafts 7, it will enter above the driving shaft 7, and the driving shaft 9 on one side will be controlled according to the offset spacing detected by the crystalline silicon plate 103 on the reversing mechanism 3. Since the adjustment mechanism of this embodiment is provided with a plurality of driving shafts 9, the driving shaft 9 on one side of the crystalline silicon plate 103 is gradually moved upward by the push rod 8, and the multiple driving shafts 9 on the same side move at the same angular velocity, so that one side of the crystalline silicon plate 103 is gradually and smoothly turned upward. The outer peripheral surface of the push block 91 on the surface of the driving shaft 9 on the other side is provided with a plurality of step grooves 92, so when the driving shaft 9 on one side is flipped upward at a larger angle, the driving shaft 9 on the other side is also flipped upward to a certain angle first, and one of the step grooves 92 on the surface of the push block 91 can be flush with the edge of the crystalline silicon plate 103, and as the driving shaft 9 on one side gradually increases its flipping angle, the driving shaft 9 on the other side flips downward at a downward flipping angle and enters under the transmission shaft 22, and the edge of the crystalline silicon plate 103 can contact and limit with different step grooves 92 on the surface of the push block 91, that is, the crystalline silicon plate 103 The step groove 92 gradually contacts and separates from the small to large step groove 92, so that the process of the crystalline silicon plate 103 sliding to one side is also a relatively slow moving process, and the segmented moving method will not cause the crystalline silicon plate to suddenly move to one side and slide out of the adjustment mechanism. In addition, according to the size of the crystalline silicon plate, a certain step groove 92 is designated as the best positioning position, and the process of the crystalline silicon plate reaching the best positioning position is also a gradual process. The driving shafts 9 on the left and right sides cooperate with each other, one side gradually flips upward, and the other side gradually flips downward, and the left and right positions where the crystalline silicon plate is actually placed finally reach the accurate positioning position. The flip angle of the driving shaft can be dynamically adjusted and adjusted to the optimal angle by the servo push rod to ensure that the sliding process of the crystalline silicon plate to the other side can move slowly.

[0059] After the crystalline silicon plate passes through the adjustment mechanism 3, the placement angle and symmetrical shape of the crystalline silicon plate 103 are basically consistent with the standard shape. When the crystalline silicon plate is transported to the robot arm adsorption station through the adjustment mechanism 3, the robot arm's extraction station 4 is provided with side limit plates 41 on the left and right sides, and a tail limit plate 42 located at the rear end, wherein the two ends of the tail limit plate 42 are respectively connected to the side limit plates 41 on the left and right sides to form a limit area for the crystalline silicon plate. If the crystalline silicon plate of the embodiment of the present invention has a large angle offset or a center offset, it cannot correctly enter the inside of the limit area. By correcting the placement position of the crystalline silicon plate through the adjustment mechanism 3 of the embodiment of the present invention, the actual conveying trajectory and shape of the crystalline silicon plate can be consistent with the standard, so that the crystalline silicon plate can accurately and smoothly enter the inside of the limit area, and the crystalline silicon plate entering the inside of the limit area is in a relatively accurate placement position, and then the robot arm carrying the suction cup mechanism swings downward, and adsorbs the crystalline silicon plate upward by adsorption, and is transferred to the placement station through subsequent actions, and subsequent packaging processing is performed.

[0060] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A crystalline silicon plate off-line transportation device, characterized in that: It includes a receiving mechanism for receiving crystalline silicon panels, a switching mechanism connected to the receiving mechanism and used to adjust the conveying direction of the crystalline silicon panels, an adjustment mechanism for adjusting the angle and transmission spacing of the crystalline silicon panels, and an extraction mechanism for a robotic arm to extract the crystalline silicon panels.

2. The crystalline silicon plate off-line transportation device according to claim 1, characterized in that: A second conveyor belt and a transmission shaft are arranged inside the reversing mechanism. When receiving the crystalline silicon plate, the top surface height of the second conveyor belt is higher than the height of the topmost action part of the transmission shaft. When the conveying direction of the crystalline silicon plate is changed from the first conveying direction to the second conveying direction, the top surface height of the second conveyor belt is lower than the average height of the topmost action part of the transmission shaft.

3. The crystalline silicon plate off-line transportation device according to claim 2, characterized in that: The height of the second conveyor belt changes relative to the transmission height of the transmission shaft, and an up-and-down floating structure needs to be configured. The up-and-down floating mechanism is arranged below the second transmission shaft, and the up-and-down floating mechanism includes fixed blocks arranged at both ends, and two sliding blocks are arranged between the fixed blocks at both ends. The two sliding blocks are respectively connected to the two telescopic ends of the telescopic rod. When the sliding block moves toward the fixed block to the first position, the second transmission shaft is supported between the sliding block and the fixed block in a first shape and position. When the sliding block slides toward the fixed block to the second position, the second transmission shaft is supported between the sliding block and the fixed block in a second position. When the second transmission shaft is located in the first position and the second position, the heights of the second transmission shaft are different.

4. The crystalline silicon plate off-line transportation device according to claim 3, characterized in that: At least a plurality of moving track grooves are arranged on the side of the sliding block relative to the fixed block, and the plurality of moving track grooves are arranged up and down along the side of the sliding block.

5. The crystalline silicon plate off-line transportation device according to claim 4, characterized in that: The moving track groove on the side of the sliding block can be divided into two sections, including a first moving track groove and a second moving track groove. The first moving track groove presents a diffusion shape from bottom to top, and the second moving track groove also presents a diffusion shape from bottom to top. The inlet end of the second moving track groove is connected to the outlet end of the first moving track groove.

6. The crystalline silicon plate off-line transportation device according to claim 3, characterized in that: When the second transmission shaft is in the first position, the horizontal plane corresponding to the center axis of the second transmission shaft is the first horizontal plane, and when the second transmission shaft is in the second position, the horizontal plane corresponding to the center axis of the second transmission shaft is the second horizontal plane. There is a center horizontal plane between the first horizontal plane and the second horizontal plane, and the center horizontal plane has the same spacing as the first horizontal plane and the second horizontal plane. The center axis of the motor transmission shaft of the transmission motor is located in the center horizontal plane.

7. The crystalline silicon plate off-line transportation device according to claim 2, characterized in that: A speed limiting shaft is arranged inside the adjustment mechanism and near the front position of the reversing mechanism. The speed limiting shaft is arranged in a left-right manner with respect to the central axis of the second conveying direction. A friction block is arranged on the surface of the speed limiting shaft. The friction block contacts the bottom surface of the crystalline silicon plate, and a speed limiting phenomenon occurs in the structure on one side of the crystalline silicon plate, and an angular offset occurs on one side of the crystalline silicon plate relative to the other side.

8. The crystalline silicon plate off-line transportation device according to claim 2, characterized in that: The rear part of the adjustment mechanism is provided with several driving shafts. The driving shaft on one side of the crystalline silicon plate is gradually moved upwards through a push rod, and multiple driving shafts on the same side move at the same angular velocity, so that one side of the crystalline silicon plate is gradually and smoothly turned upwards.

9. The crystalline silicon plate off-line transportation device according to claim 8, characterized in that: The outer peripheral surface of the push block on the push shaft surface is provided with a plurality of step grooves. The push shafts on both sides act in opposite directions, and the step grooves on the push block surface on one side are aligned and limited with the edge of the crystalline silicon plate.

10. A method for conveying crystalline silicon panels using the off-line conveying device according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step S1: the receiving mechanism receives the crystalline silicon panel and transmits the crystalline silicon panel to the switching mechanism; Step S2: the reversing mechanism moves up and down through the second conveyor belt, so that the crystalline silicon plate switches from the first conveying direction to the second conveying direction during the entire conveying process; Step S3: the crystalline silicon plate enters the front part of the adjustment mechanism, and a speed difference is generated between one side of the crystalline silicon plate and the other side through the speed limiting shaft to correct the offset angle of the crystalline silicon plate; Step S4: the crystalline silicon plate enters the rear end of the adjustment mechanism, and the center deviation spacing of the crystalline silicon plate is pushed and corrected and correspondingly positioned and calibrated by the pushing plate; Step S5: The crystalline silicon plate enters the extraction mechanism for final positioning, and is extracted and displaced by the robotic arm.

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