A packaging integrated taking and placing assembly, a side and corner protector mounting machine and a mounting method

Abstract

The present application relates to a kind of packaging integrative taking and placing assembly, edge and corner mounting machine and installation method, packaging integrative taking and placing assembly includes gripper support, corner taking and placing assembly and edge taking and placing assembly. Packaging integrative taking and placing assembly can simultaneously adapt to the taking and placing of corner and edge, so that the same equipment can complete the installation of corner and edge of photovoltaic module once. Edge and corner mounting machine includes packaging integrative taking and placing assembly. Two vibrating discs can initially feed corner and edge in disorder state, and transmission line can automatically send out corner and edge in orderly posture, so that the trouble of pre-coding in clip is avoided, and manpower is saved. The installation method can automatically complete the installation of four corners and two edges of photovoltaic module, and assembly is fast.

Description

Technical Field

[0001] This invention relates to the field of semiconductor device assembly equipment technology, and in particular to an integrated packaging material handling assembly, an edge and corner protector installation machine, and an installation method. Background Technology

[0002] Photovoltaic modules (also called solar panels) are power generation systems that convert solar energy into electrical energy. The core components, the solar cells, are generally flat and fragile, so they need to be protected by a frame. Sometimes, corner protectors and edge protectors also need to be assembled on the frame.

[0003] Chinese patent CN211766799U discloses an automatic corner protector wrapping machine, including a frame with corner protector feeding mechanisms at its four corners. The corner protector feeding mechanism includes a feeding slide cylinder mounted on the frame for horizontally moving the corner protector. A fixed base is fixedly connected to the drive shaft of the feeding slide cylinder, and a fourth cylinder is fixedly connected to the fixed base for vertically moving the corner protector. A second connecting plate is fixedly connected to the drive shaft of the fourth cylinder, and multiple feeding suction cups are fixedly connected to the end of the second connecting plate away from the fourth cylinder. The machine also includes a vacuum generator mounted on the fixed base, connected to the feeding suction cups. The feeding slide cylinder moves the corner protector horizontally to the corner protector wrapping platform mechanism, the fourth cylinder moves the corner protector vertically, the feeding suction cups hold the corner protector for easy movement, and the vacuum generator ensures the feeding suction cups can hold the corner protector. Therefore, the corner protector feeding mechanism is located on the wide side of the photovoltaic module, and the layout of the feeding suction cup is only suitable for the adsorption of the corner protector, without taking into account the assembly of the edge protector. For the same photovoltaic module, an additional edge protector wrapping device is required to install the edge protector, which not only increases the investment in equipment but also reduces efficiency.

[0004] Therefore, it is necessary to design a new pick-and-place component to simultaneously meet the needs of moving corner protectors and edge protectors. Summary of the Invention

[0005] The first main objective of this invention is to provide an integrated packaging material handling component that can simultaneously pick up corner protectors and edge protectors, thereby meeting the material handling requirements for installing corner protectors and edge protectors on photovoltaic modules.

[0006] This invention achieves the above objective through the following technical solution: an integrated packaging material handling component, comprising:

[0007] gripper support;

[0008] A corner protector pick-and-place assembly is provided at the lower part of the gripper bracket. The corner protector pick-and-place assembly includes a first fixing plate connected to the lower part of the gripper bracket and three corner protector suction cups distributed in a triangular pattern at the lower part of the first fixing plate.

[0009] An edge protection pick-and-place assembly is provided at the lower part of the gripper bracket. The edge protection pick-and-place assembly includes a lifting drive connected to the side of the gripper bracket, a second fixed plate driven to lift by the lifting drive, and four edge protection suction cups rectangularly distributed at the lower part of the second fixed plate.

[0010] Specifically, the corner protector loading and unloading assembly also includes three corner protector pressing blocks that are interposed with the corner protector suction cup.

[0011] Specifically, the edge protection pick-and-place assembly also includes an edge protection pressing block that is interposed in the middle of the edge protection suction cup.

[0012] Specifically, it also includes a gripper vision mechanism located on the side of the gripper bracket. The gripper vision mechanism includes a vision lens and a surface light source. The surface light source illuminates the detection area of ​​the vision lens downwards, and the center of the surface light source has an observation hole facing the vision lens.

[0013] The second main objective of this invention is to provide a tool for installing edge and corner protectors, which eliminates the hassle of pre-loading corner and edge protectors into the magazine and is done at a reasonable pace.

[0014] This invention achieves the above objective through the following technical solution: a corner protector installation machine including the integrated packaging material handling assembly, comprising:

[0015] frame;

[0016] The panel feeding assembly, located on the lower layer of the frame, includes a synchronous conveyor line for conveying photovoltaic modules in the front-to-back direction and four alignment mechanisms located around the synchronous conveyor line.

[0017] The corner protection arrangement conveying unit and the edge protection arrangement conveying unit are arranged side by side in the middle layer of the frame. Each of them includes a vibratory plate and a transmission line arranged sequentially in the left-right direction. Baffles are provided on both sides of the transmission line in the conveying direction.

[0018] The first and second loading robots are located on the upper layer of the frame and both include robotic arms. The integrated packaging material handling assembly is located at the end of the robotic arm.

[0019] Both transmission lines are equipped with a first outlet located within the operating range of the first feeding robot and a second outlet located within the operating range of the second feeding robot.

[0020] Specifically, a first sensor is provided on the side of the first exit, a second sensor is provided on the side of the second exit, and a first positioning camera and a second positioning camera are provided on the top of the frame. The first positioning camera monitors the operating range of the first loading robot, and the second positioning camera monitors the operating range of the second loading robot.

[0021] Specifically, the middle layer of the frame is also provided with four corner protection positioning platforms and one edge protection positioning platform. The four corner protection positioning platforms are respectively set close to the four corner points of the photovoltaic module, and the edge protection positioning platform is located in the overlapping area of ​​the operating range of the first loading robot and the second loading robot.

[0022] Furthermore, the corner protector positioning platform includes a corner protector support plate, a first right-angle reference block disposed on the upper surface of the corner protector support plate, and a slanted push cylinder that clamps the corner protector to the first right-angle reference block. The first right-angle reference block is provided with a first positioning sensor for detecting the corner of the corner protector on the corner protector support plate. The first positioning sensor is used to guide the slanted push cylinder to start operating.

[0023] Furthermore, the edge protection positioning platform includes an edge protection support plate, a second right-angle reference block disposed on the upper surface of the edge protection support plate, and two direct-push cylinders that clamp the edge protection to the second right-angle reference block. The lower part of the edge protection support plate is provided with a second positioning sensor for detecting when the edge protection falls on the edge protection support plate. The second positioning sensor is used to guide the two direct-push cylinders to start operating.

[0024] The third main objective of this invention is to provide an installation method that can simultaneously install four corner protectors and two edge protectors on a photovoltaic module using the aforementioned edge and corner protector installation machine.

[0025] The present invention achieves the above objective through the following technical solution: an installation method, comprising the following steps:

[0026] S1. The synchronous conveyor line moves the photovoltaic module to be assembled to the middle of the four alignment mechanisms. The four alignment mechanisms move from the four sides toward the middle to fix the position of the photovoltaic module.

[0027] S2. A large number of corner protectors are randomly poured into the vibratory feeder of the corner protector arrangement conveying unit, and a large number of edge protectors are randomly poured into the vibratory feeder of the edge protector arrangement conveying unit. The two arrangement conveying units can each arrange the corner protectors and edge protectors in a specific posture and send them out to the transmission line. For each transmission line, the first outlet and the second outlet provide two material picking positions, so that the first loading robot and the second loading robot can pick up the corner protectors or edge protectors without interfering with each other.

[0028] S3. The first sensor senses whether material has arrived at the first outlet, and the second sensor senses whether material has arrived at the second outlet. The first positioning camera is used to monitor the movement of the first loading robot, and the second positioning camera is used to monitor the movement of the second loading robot. Each loading robot can pick up at most one corner protector and one edge protector. The corner protector is picked up using three corner protector suction cups, and the edge protector is picked up using four edge protector suction cups.

[0029] S4. After picking up the corner protector, the loading robot will first place it on the corner protector positioning platform. When the first positioning sensor detects that the corner protector is in place on the corner protector positioning platform, the inclined push cylinder will push the corner protector obliquely against the inside of the angle of the first right-angle reference block, so that it is adjusted in advance to the angle to be placed on the corner of the photovoltaic module. Then, the corner protector picking and placing component will pick up the corner protector and place it on the corner of the photovoltaic module.

[0030] S5. After picking up the edge protector, the loading robot will first place it on the edge protector positioning platform. When the second positioning sensor detects that the edge protector is in place on the edge protector positioning platform, two direct-push cylinders will move the edge protector against the inside of the included angle of the second right-angle reference block from two vertical directions, thereby achieving precise positioning of the edge protector. Then, the edge protector picking and placing component will pick up the edge protector and place it at the midpoint of the long side of the photovoltaic module. The two loading robots will alternately perform edge protector positioning.

[0031] S6. After assembling four corner protectors and two edge protectors on a single photovoltaic module, the alignment mechanism is released, and the synchronous conveyor line sends the assembled photovoltaic module out of the edge protector and corner protector installation machine.

[0032] The beneficial effects of the technical solution of this invention are:

[0033] 1. The integrated packaging loading and unloading module can simultaneously handle the loading and unloading of corner protectors and edge protectors, making it possible to complete the installation of corner protectors and edge protectors for photovoltaic modules in one go using the same equipment.

[0034] 2. Two vibratory feeders allow the corner protectors and edge protectors to be fed in a disordered state at first. The conveyor line can automatically deliver the corner protectors and edge protectors in an orderly manner, eliminating the trouble of pre-packing them in the magazine and saving manpower.

[0035] 3. The corner protector installation machine can automatically complete the installation of four corner protectors and two edge protectors for photovoltaic modules, and the assembly is fast. Attached Figure Description

[0036] Figure 1 A 3D view of the edge and corner protector installation machine;

[0037] Figure 2 A top view of the machine frame removed for the edge and corner protector installation machine;

[0038] Figure 3 for Figure 2 A magnified view of a portion of position A in the middle;

[0039] Figure 4 A 3D view of the integrated pick-and-place assembly;

[0040] Figure 5 A 3D view of the integrated pick-and-place assembly when picking up corner protectors and edge protectors;

[0041] Figure 6 Diagram showing the working status of the corner protector positioning platform;

[0042] Figure 7 A diagram showing the working status of the edge protection positioning platform;

[0043] Figure 8 This is a 3D view of the photovoltaic modules assembled with all corner and edge protectors.

[0044] The numbers in the image represent:

[0045] 100-Edge and Corner Protector Installation Machine

[0046] 1-Frame, 11-First positioning camera, 12-Second positioning camera;

[0047] 2-Panel feeding assembly, 21-Synchronous conveyor line, 22-Correcting mechanism;

[0048] 3a-Corner-protected conveyor unit, 3b-Edge-protected conveyor unit, 31-Vibrating plate, 32-Transmission line, 33-Baffle, 34a-First sensor, 34b-Second sensor;

[0049] 4a-First loading robot, 4b-Second loading robot, 41-Robotic arm, 42-Gripper bracket, 43-Corner guard pick-and-place assembly, 431-First fixing plate, 432-Corner guard suction cup, 433-Corner guard pressing block, 44-Edge guard pick-and-place assembly, 441-Lifting drive component, 442-Second fixing plate, 443-Edge guard suction cup, 444-Edge guard pressing block, 45-Gripper vision mechanism, 451-Vision lens, 452-Surface light source, 4521-Observation hole;

[0050] 5-Corner protection positioning stage, 51-Corner protection support plate, 52-First right-angle reference block, 53-Angled push cylinder, 54-First positioning sensor;

[0051] 6-Edge positioning platform, 61-Edge support plate, 62-Second right-angle reference block, 63-Direct push cylinder, 64-Second positioning sensor;

[0052] 200 - Photovoltaic modules;

[0053] 301 - Corner protector, 302 - Edge protector. Detailed Implementation

[0054] The present invention will be further described in detail below with reference to specific embodiments.

[0055] Example:

[0056] like Figure 8As shown, there are four corner protectors 301, located at the four corners of the photovoltaic module 200; there are two edge protectors 302, which are generally located in the middle of the two long edges of the photovoltaic module 200.

[0057] like Figure 1 and Figure 2 As shown, the present invention provides a corner protector installation machine 100, which includes a frame 1, a plate feeding assembly 2, two conveying units (corner protector conveying unit 3a and edge protector conveying unit 3b), two loading robots (first loading robot 4a and second loading robot 4b), four corner protector positioning platforms 5 and one edge protector positioning platform 6.

[0058] like Figure 1 and Figure 2 As shown, the feeding assembly 2 is located on the lower layer of the frame 1. The feeding assembly 2 includes a synchronous conveying line 21 that conveys the photovoltaic modules 200 in the front-to-back direction and four alignment mechanisms 22 located around the synchronous conveying line 21.

[0059] The synchronous conveyor line 21 is used to move the photovoltaic module 200 into and out of the equipment. When installing the corner protector 301 and the edge protector 302, the photovoltaic module 200 needs to be fixed in position, which requires four alignment mechanisms 22 to move towards the center of the synchronous conveyor line 21 to complete the task.

[0060] like Figure 2 and Figure 3 As shown, the corner protector conveying unit 3a and the edge protector conveying unit 3b are arranged side by side in the middle layer of the frame 1. The corner protector conveying unit 3a conveys corner protectors 301 in the left-right direction, and the edge protector conveying unit 3b conveys edge protectors 302 in the left-right direction. The first loading robot 4a and the second loading robot 4b are located in the upper layer of the frame 1, respectively in the middle and downstream of the two conveying units. Both the corner protector conveying unit 3a and the edge protector conveying unit 3b include a vibratory feeder 31 and a transmission line 32 arranged sequentially in the left-right direction. Baffles 33 are provided on both sides of the transmission line 32 in the conveying direction. Both transmission lines 32 are provided with a first outlet within the operating range of the first loading robot 4a and a second outlet within the operating range of the second loading robot 4b. A first sensor 34a is provided on the side of the first outlet, and a second sensor 34b is provided on the side of the second outlet.

[0061] Two vibratory feeders 31 allow the corner protectors 301 and edge protectors 302 to be initially fed in a disordered state. The conveyor line 32 can automatically deliver the corner protectors 301 and edge protectors 302 in an orderly manner, eliminating the hassle of pre-packaging them in the magazine and saving manpower. The photovoltaic module 200 moves along the front-to-back direction, which means that there is space on the left or right side of the frame 1 to install the vibratory feeders 31. Figure 2Both the corner protector conveying unit 3a and the edge protector conveying unit 3b convey materials from left to right (referring to corner protectors 301 and edge protectors 302). In practical applications, they can also convey materials from right to left, or one conveys materials to the left and the other to the right. Therefore, there is no fixed order between the first outlet and its corresponding second outlet. It is only necessary to ensure that the first outlet is within the operating range of the first loading robot 4a and the second outlet is within the operating range of the second loading robot 4b. The baffle 33 ensures that the corner protectors 301 or edge protectors 302 can only be conveyed in a single row through the transmission line 32. The two first sensors 34a respectively sense whether corner protectors 301 or edge protectors 302 have arrived at their respective first outlets, and the two second sensors 34b respectively sense whether corner protectors 301 or edge protectors 302 have arrived at their respective second outlets, thereby instructing the two loading robots to perform the material handling operation.

[0062] like Figure 2 and Figure 3 As shown, four corner protection positioning platforms 5 and one edge protection positioning platform 6 are located in the middle layer of the frame 1. The four corner protection positioning platforms 5 are respectively located near the four corner points of the photovoltaic module 200, and the edge protection positioning platform 6 is located in the overlapping area of ​​the operating range of the first loading robot 4a and the second loading robot 4b.

[0063] The first loading robot 4a and the second loading robot 4b are responsible for installing the four corner protectors 301 and the two edge protectors 302, ensuring that the assembly work fully covers all corner protectors 301 and edge protectors 302 at a reasonable pace. For layout rationality, the photovoltaic module 200 is conveyed with its short side along the front-back direction and its long side along the left-right direction. This allows each loading robot to operate within a small circular area, including the two corner points of the same wide side of the photovoltaic module 200 (the installation positions of the corner protectors 301) and the midpoint of the long side (the installation positions of the edge protectors 302). The two circular areas overlap at the edge protector positioning platform 6. Since there are only two edge protectors 302 on a photovoltaic module 200, the first loading robot 4a and the second loading robot 4b alternately use the edge protector positioning platform 6 to position the edge protectors 302. While one robot is positioning the edge protector (for a short time), the other is positioning the corner protector 301 or assembling materials (for a longer total time), so they do not interfere with each other.

[0064] like Figure 1 As shown, the top of the frame 1 is equipped with two positioning cameras (first positioning camera 11 and second positioning camera 12), wherein the first positioning camera 11 monitors the operating range of the first loading robot 4a, and the second positioning camera 12 monitors the operating range of the second loading robot 4b.

[0065] The operating range of the first loading robot 4a covers the two left corners, the front midpoint, the two left corner protection positioning platforms, and the edge protection positioning platform 6 of the photovoltaic module 200. The first positioning camera 11 needs to roughly identify all the picking and placing points of the first loading robot 4a and guide the first loading robot 4a to complete the material transfer action between picking, positioning, and installation. The operating range of the second loading robot 4b covers the two right corners, the rear midpoint, the two right corner protection positioning platforms, and the edge protection positioning platform 6 of the photovoltaic module 200. The second positioning camera 12 needs to roughly identify all the picking and placing points of the second loading robot 4b and guide the second loading robot 4b to complete the material transfer action between picking, positioning, and installation.

[0066] like Figures 3 to 5 As shown, both loading robots include a robotic arm 41, a gripper bracket 42 at the end of the robotic arm 41, corner protection and edge protection components 43 and 44 at the lower part of the gripper bracket 42, and a gripper vision mechanism 45 on the side of the gripper bracket 42. The gripper vision mechanism 45 includes a vision lens 451 and a surface light source 452. The surface light source 452 illuminates the detection area of ​​the vision lens 451 downwards, and an observation hole facing the vision lens 451 is provided in the middle of the surface light source 452.

[0067] The gripper bracket 42, corner protector pick-and-place assembly 43, and edge protector pick-and-place assembly 44 form an integrated pick-and-place assembly capable of simultaneously picking up corner protectors 301 and edge protectors 302. The first loading robot 4a and the second loading robot 4b have the same function. The gripper vision mechanism 45 is responsible for high-precision (relative to the precision of the first positioning camera 11 and the second positioning camera 12) material or position identification, thereby guiding the corner protector pick-and-place assembly 43 to accurately pick up and place the corner protector 301, and the edge protector pick-and-place assembly 44 to accurately pick up and place the edge protector 302, preventing material from falling. The surface light source 452 provides sufficient illumination to the detection area of ​​the vision lens 451, preventing misjudgments by the vision lens 451.

[0068] like Figure 4 and Figure 5 As shown, the corner protector pick-and-place assembly 43 includes a first fixing plate 431 connected to the lower part of the gripper bracket 42, three corner protector suction cups 432 distributed in a triangular shape on the lower part of the first fixing plate 431, and three corner protector pressure blocks 433 interspersed with the corner protector suction cups 432.

[0069] The corner protector pick-up and drop assembly 43 firmly holds the upper surface of the corner protector 301 with three corner protector suction cups 432. When the corner protector 301 is placed on the corner protector positioning platform 5 or the corner of the photovoltaic module 200, the corner protector pressing block 433 will press the corner protector 301 in place. The pressure will be released after the corner protector 301 is completely separated from the corner protector suction cups 432 to prevent the corner protector 301 from popping up and falling.

[0070] like Figure 4 and Figure 5 As shown, the edge protection pick-and-place assembly 44 includes a lifting drive 441 connected to the side of the gripper bracket 42, a second fixed plate 442 driven to lift by the lifting drive 441, four edge protection suction cups 443 rectangularly distributed at the bottom of the second fixed plate 442, and an edge protection pressure block 444 interspersed between the edge protection suction cups 443.

[0071] The edge protection pick-and-place assembly 44 uses four edge protection suction cups 443 to hold the upper surface of the edge protection 302. When the edge protection 302 is placed on the edge protection positioning platform 6 or at the midpoint of the long side of the photovoltaic module 200, the edge protection pressing block 444 will press the edge protection 302 in place. The pressure will be released only after the edge protection 302 is completely detached from the edge protection suction cups 443 to prevent the edge protection 302 from popping up and falling. The lifting drive component 441 enables the second fixing plate 442 to be raised and lowered independently of the first fixing plate 431, avoiding the risk that the corner protection 301 or the edge protection 302 cannot be picked up together due to inconsistent heights (because there is no camera for lateral height detection).

[0072] like Figure 6 As shown, the corner protector positioning platform 5 includes a corner protector support plate 51, a first right-angle reference block 52 disposed on the upper surface of the corner protector support plate 51, and a slanted push cylinder 53 that clamps the corner protector 301 toward the first right-angle reference block 52. The first right-angle reference block 52 is provided with a first positioning sensor 54 for detecting that the corner protector 301 falls on the corner protector support plate 51. The first positioning sensor 54 is used to guide the slanted push cylinder 53 to start operating.

[0073] Because the initial angle of the corner protector 301 has a certain random error, and the loading robot also has systematic errors, in order to reduce the difficulty of precision control, the corner protector positioning platform 5 provides a transfer position for the corner protector 301 near the corner of the photovoltaic module 200. The corner protector 301 has an approximately isosceles right triangle structure. The first right-angle reference block 52 provides a position reference for its two right-angled sides. The inclined push cylinder 53 acts on its hypotenuse, so that the corner protector 301 is attached to the inside of the corner of the first right-angle reference block 52, thereby achieving precise positioning of the corner protector 301. The four corner protector positioning platforms 5 have the same structure, but considering that after the corner protector 301 is positioned, it moves to the adjacent installation position (i.e., the corner of the photovoltaic module 200), and the angle does not need to change, the four are oriented differently, and there is a 90° angle difference between adjacent corner protector positioning platforms 5.

[0074] like Figure 7 As shown, the edge protection positioning platform 6 includes an edge protection support plate 61, a second right-angle reference block 62 disposed on the upper surface of the edge protection support plate 61, and two direct-push cylinders 63 that clamp the edge protection 302 to the second right-angle reference block 62. The lower part of the edge protection support plate 61 is provided with a second positioning sensor 64 for detecting that the edge protection 302 falls on the edge protection support plate 61. The second positioning sensor 64 is used to guide the two direct-push cylinders 63 to start operating.

[0075] Because the initial angle of the edge protector 302 has a certain random error, and the loading robot also has systematic errors, in order to reduce the difficulty of precision control, the edge protector positioning platform 6 provides a transfer position for the edge protector 302. The edge protector 302 has a rectangular structure, and the second right-angle reference block 62 provides a position reference for its adjacent sides, thereby achieving precise positioning of the edge protector 302.

[0076] The working process of this edge and corner protector installation machine 100 is as follows:

[0077] S1. The synchronous conveyor line 21 moves the photovoltaic module 200 to be assembled to the middle of the four alignment mechanisms 22. The four alignment mechanisms 22 move from the four sides toward the middle to fix the position of the photovoltaic module 200.

[0078] S2. A large number of corner protectors 301 are randomly poured into the vibratory feeder of the corner protector arranging conveyor unit 3a, and a large number of edge protectors 302 are randomly poured into the vibratory feeder of the edge protector arranging conveyor unit 3b. The two conveyor units can each arrange the corner protectors 301 and edge protectors 302 in a specific orientation and send them out onto the conveyor line 32. For each conveyor line 32, the first outlet and the second outlet provide two material picking positions, allowing the first loading robot 4a and the second loading robot 4b to pick up materials (corner protectors 301 or edge protectors 302) without interfering with each other.

[0079] S3. The first sensor 34a can sense whether material has arrived at the first outlet, and the second sensor 34b can sense whether material has arrived at the second outlet. The first positioning camera 11 is used to monitor the movement of the first feeding robot 4a, and the second positioning camera 12 is used to monitor the movement of the second feeding robot 4b, thereby guiding the feeding robots when to pick up materials to prevent them from emptying their containers. Each feeding robot can pick up a maximum of one corner protector 301 and one edge protector 302 at the same time. The corner protector 301 is picked up using three corner protector suction cups 432, and the edge protector 302 is picked up using four edge protector suction cups 443.

[0080] S4. After picking up the corner protector 301, the loading robot will first place it on the corner protector positioning platform 5. When the first positioning sensor 54 senses that the corner protector 301 is in place on the corner protector positioning platform 5, the inclined push cylinder 53 pushes the corner protector 301 obliquely against the inside of the angle of the first right-angle reference block 52, so that it is pre-adjusted to the angle to be placed at the corner point of the photovoltaic module 200. In this way, after the loading robot uses the corner protector picking and placing component 43 to pick up the corner protector 301, it only needs to move a small distance to place it at the corner point of the photovoltaic module 200, so the assembly accuracy of the corner protector 301 can be more reliable. Because the angles of the corner protectors 301 at the four corner points are different, each corner protector positioning platform 5 only needs to position the nearest corner protector 301. The four corner protector positioning platforms 5 are incompatible and will not cause action conflicts between the two loading robots.

[0081] S5. After picking up the edge protector 302, the loading robot first places it on the edge protector positioning platform 6. When the second positioning sensor 64 detects that the edge protector 302 is in place on the edge protector support plate 61, two direct-push cylinders 63 move the edge protector 302 from two vertical directions to the inside of the included angle of the second right-angle reference block 62, thereby achieving precise positioning of the edge protector 302. Subsequently, the loading robot uses the edge protector picking and placing component 44 to pick up the edge protector 302 and then places it at the midpoint of the long side of the photovoltaic module 200, making the assembly accuracy of the edge protector more reliable. Because the two loading robots share one edge protector positioning platform 6, they need to alternate in positioning the edge protector 302.

[0082] S6, such as Figure 8 As shown, after four corner protectors 301 and two edge protectors 302 are assembled on a single photovoltaic module 200, the alignment mechanism 22 is released, and the synchronous conveyor line 21 sends the assembled photovoltaic module 200 out of the edge protector and corner protector installation machine 100.

[0083] The above descriptions are merely some embodiments of the present invention. Those skilled in the art can make various modifications and improvements without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A one-piece packaging material handling assembly, characterized in that... include: gripper support; A corner protector picking and placing assembly is disposed at the lower part of the gripper bracket. The corner protector picking and placing assembly includes a first fixing plate connected to the lower part of the gripper bracket and a plurality of corner protector suction cups distributed at the lower part of the first fixing plate. An edge protection pick-and-place assembly is provided at the lower part of the gripper bracket. The edge protection pick-and-place assembly includes a lifting drive connected to the side of the gripper bracket, a second fixed plate driven to lift by the lifting drive, and a plurality of edge protection suction cups distributed at the lower part of the second fixed plate. The lower part of the first fixing plate has three corner protection suction cups arranged in a triangular pattern, and the corner protection picking and placing assembly also includes three corner protection pressing blocks that are interposed with the corner protection suction cups; The lower part of the second fixing plate has four edge-protecting suction cups in a rectangular arrangement, and the edge-protecting picking and placing assembly also includes an edge-protecting pressing block that is interposed in the middle of the edge-protecting suction cups; It also includes a gripper vision mechanism located on the side of the gripper bracket. The gripper vision mechanism includes a vision lens and a surface light source. The surface light source illuminates the detection area of ​​the vision lens downwards. The center of the surface light source has an observation hole facing the vision lens.

2. A corner protector installation machine comprising the integrated packaging material handling assembly as described in claim 1, characterized in that... include: frame; The panel feeding assembly, located on the lower layer of the frame, includes a synchronous conveyor line for conveying photovoltaic modules in the front-to-back direction and four alignment mechanisms located around the synchronous conveyor line. The corner protection arrangement conveying unit and the edge protection arrangement conveying unit are arranged side by side in the middle layer of the frame. Each of them includes a vibratory plate and a transmission line arranged sequentially in the left-right direction. Baffles are provided on both sides of the transmission line in the conveying direction. The first and second loading robots are located on the upper layer of the frame and both include robotic arms. The integrated packaging material handling assembly is located at the end of the robotic arm. Both transmission lines are equipped with a first outlet located within the operating range of the first feeding robot and a second outlet located within the operating range of the second feeding robot.

3. The edge and corner protector installation machine according to claim 2, characterized in that: A first sensor is provided on the side of the first outlet, and a second sensor is provided on the side of the second outlet. A first positioning camera and a second positioning camera are provided on the top of the frame. The first positioning camera monitors the operating range of the first loading robot, and the second positioning camera monitors the operating range of the second loading robot.

4. The edge and corner protector installation machine according to claim 2, characterized in that: The middle layer of the frame is also provided with four corner protection positioning platforms and one edge protection positioning platform. The four corner protection positioning platforms are respectively set close to the four corner points of the photovoltaic module, and the edge protection positioning platform is located in the overlapping area of ​​the operating range of the first loading robot and the second loading robot.

5. The edge and corner protector installation machine according to claim 4, characterized in that: The corner protector positioning platform includes a corner protector support plate, a first right-angle reference block disposed on the upper surface of the corner protector support plate, and a slanted push cylinder that clamps the corner protector to the first right-angle reference block. The first right-angle reference block is provided with a first positioning sensor that detects the corner of the corner protector on the corner protector support plate. The first positioning sensor is used to guide the slanted push cylinder to start operating.

6. The edge and corner protector installation machine according to claim 4, characterized in that: The edge protection positioning platform includes an edge protection support plate, a second right-angle reference block disposed on the upper surface of the edge protection support plate, and two direct-push cylinders that clamp the edge protection to the second right-angle reference block. The lower part of the edge protection support plate is provided with a second positioning sensor for detecting when the edge protection falls on the edge protection support plate. The second positioning sensor is used to guide the two direct-push cylinders to start operating.

7. An installation method, characterized in that, The installation is completed using any one of the edge and corner protector installation machines described in claims 2-6, and the steps include: S1. The synchronous conveyor line moves the photovoltaic module to be assembled to the middle of the four alignment mechanisms. The four alignment mechanisms move from the four sides toward the middle to fix the position of the photovoltaic module. S2. A large number of corner protectors are randomly poured into the vibratory feeder of the corner protector arrangement conveying unit, and a large number of edge protectors are randomly poured into the vibratory feeder of the edge protector arrangement conveying unit. The two arrangement conveying units can each arrange the corner protectors and edge protectors in a specific posture and send them out to the transmission line. For each transmission line, the first outlet and the second outlet provide two material picking positions, so that the first loading robot and the second loading robot can pick up the corner protectors or edge protectors without interfering with each other. S3. The first sensor senses whether material has arrived at the first outlet, and the second sensor senses whether material has arrived at the second outlet. The first positioning camera is used to monitor the movement of the first loading robot, and the second positioning camera is used to monitor the movement of the second loading robot. Each loading robot can pick up at most one corner protector and one edge protector. The corner protector is picked up using three corner protector suction cups, and the edge protector is picked up using four edge protector suction cups. S4. After picking up the corner protector, the loading robot will first place it on the corner protector positioning platform. When the first positioning sensor detects that the corner protector is in place on the corner protector positioning platform, the inclined push cylinder will push the corner protector obliquely against the inside of the angle of the first right-angle reference block, so that it is adjusted in advance to the angle to be placed on the corner of the photovoltaic module. Then, the corner protector picking and placing component will pick up the corner protector and place it on the corner of the photovoltaic module. S5. After picking up the edge protector, the loading robot will first place it on the edge protector positioning platform. When the second positioning sensor detects that the edge protector is in place on the edge protector positioning platform, two direct-push cylinders will move the edge protector against the inside of the included angle of the second right-angle reference block from two vertical directions, thereby achieving precise positioning of the edge protector. Then, the edge protector picking and placing component will pick up the edge protector and place it at the midpoint of the long side of the photovoltaic module. The two loading robots will alternately perform edge protector positioning. S6. After assembling four corner protectors and two edge protectors on a single photovoltaic module, the alignment mechanism is released, and the synchronous conveyor line sends the assembled photovoltaic module out of the edge protector and corner protector installation machine.

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