Automatic feeding device for photovoltaic module frame

Abstract

The utility model discloses an automatic feeding device for a photovoltaic module frame. The conveying and distributing device is used for conveying and distributing frames to obtain a complete set of frames, the carrying manipulator is used for carrying the frames, and the carrying and clamping unit is arranged above the tail end of the conveying and distributing device and is used for clamping and carrying the complete set of frames at the same time; the conveying and distributing device comprises a plurality of groups of frame conveying lines which are distributed in parallel at intervals up and down; the carrying mechanical arm comprises a mounting plate arranged at the movable tail end of the mechanical arm, a positioning and sucking module arranged on the mounting plate and used for positioning and sucking the frame, a camera fixed to the mounting plate and used for photographing and positioning the frame, and a laser range finder used for measuring the height of the four corner areas of the whole support frame. According to the automatic feeding device, automatic feeding of the frame for photovoltaic module framing and one-time synchronous clamping of a complete set of frames can be achieved, automatic feeding of the complete set of frames is achieved, and the production efficiency can be improved.

Description

[Technical field]

[0001] The utility model belongs to the technical field of photovoltaic component production, in particular to an automatic feeding device for a photovoltaic component frame. [Background technology]

[0002] During the assembly and production process of photovoltaic modules, metal frames are required to protect the photovoltaic modules on all sides and assemble them into an integrated structure. The rectangular frame is composed of two long-side frames and two short-side frames connected by snap-on, splicing, screw connection, or adhesive connection. In order to realize automated production and improve production efficiency, it is now proposed to feed the incoming materials of the frame using a material frame, and then use a handling robot to take it out of the material frame and place it on a feeding and dividing buffer device. After the material is divided by the feeding and dividing buffer device, it is moved to the glue dispensing station for glue dispensing and the surrounding frame assembly operation with the photovoltaic module body. Therefore, it is necessary to design a handling robot and the above-mentioned feeding and dividing buffer device.

[0003] In the prior art, a frame storage machine disclosed in patent publication number CN206502380U includes a frame conveying mechanism, a frame material taking and transferring mechanism, and a frame material dividing and transferring mechanism, wherein the frame conveying mechanism includes four layers of conveying lines, each layer of conveying line conveys the frame from left to right, and at the right end of the conveying line, the frame material taking and transferring mechanism takes out the frame at the end of each layer of conveying line and places it on the frame material dividing and transferring mechanism. However, there are still two problems with this solution:

[0004] (1) According to the structural description of the frame storage machine, since the frame material picking and transferring mechanism has the movement in the X-axis and Z-axis directions, when taking the frames on the upper three layers of conveyor lines, the frame material picking and transferring mechanism will interfere with the frames at the end of other layers of conveyor lines below the current layer of conveyor line, resulting in the frame material picking and transferring mechanism being unable to enter the conveying section of the current layer of conveyor line to pick up the frames;

[0005] (2) Since the incoming materials of the long and short sides of the frames are generally stacked, with wooden pallets as the base, the whole pallet of frames is placed at the designated location by forklift. In the above scheme, it is necessary to manually transport the frames one by one onto the conveyor belt, and then start the storage machine. The conveyor belt transports the frames to the frame storage machine for storage. Since the frames of photovoltaic modules are metal frames and are not light in weight, operators are prone to fatigue after long-term handling, and they need to manually frequently replenish and load the frames, which is labor-intensive and has high labor costs.

[0006] Therefore, it is necessary to provide an automatic loading device for photovoltaic module frames to solve the above technical problems. [Utility Model Content]

[0007] The main purpose of the utility model is to provide an automatic feeding device for photovoltaic component frames, which can realize automatic feeding of frames used for photovoltaic component frame assembly and one-time synchronous clamping of a set of frames, realize automatic feeding of a whole set of frames, and improve production efficiency.

[0008] The utility model achieves the above-mentioned purpose through the following technical scheme: an automatic feeding device for photovoltaic component frames, which includes a frame feeding area, a conveying and dividing device used to realize frame conveying and dividing to obtain a set of frames, a transporting robot that realizes conveying frames on the frame feeding area to the conveying and dividing device, and a transporting clamping unit arranged above the end of the conveying and dividing device to realize simultaneous clamping and transporting of a set of frames; the conveying and dividing device includes a plurality of groups of frame conveying lines distributed in parallel with upper and lower intervals, and all of the frame conveying lines convey the complete set of frames to a position that is consistent with each other in upper and lower positions; the transporting robot includes a mounting plate arranged at the movable end of the robot arm, a positioning and absorbing module arranged on the mounting plate and used to position and absorb the frames, a camera fixed on the mounting plate and used to take pictures and position the frames, and a laser rangefinder that measures the heights of the four corner areas of the entire support frame.

[0009] Furthermore, the frame feeding area is provided with two groups, and the conveying and distributing devices are provided with two groups corresponding to the frame feeding area. The transport robot is slidably arranged on the ground rail to facilitate transporting the frame on the frame feeding area to the corresponding conveying and distributing device.

[0010] Furthermore, the transporting and clamping unit includes a first motor, a first support plate driven by the first motor to move parallel to the conveying direction of the frame conveying line, a second motor fixed on the first support plate, a column driven by the second motor to move up and down, a second support plate fixed at the bottom of the column, a flip bracket rotatably arranged on the second support plate, a third motor fixed on the second support plate and driving the flip bracket to flip around a horizontal axis, a plurality of clamping modules installed on the flip bracket, and a rotating drive module arranged on the flip bracket and driving the clamping modules to rotate so as to realize a 90° flipping of the frame.

[0011] Furthermore, the frame conveying lines are provided in four groups, and the clamping modules are provided in four groups corresponding to the frame conveying lines.

[0012] Furthermore, the conveying and material distribution device also includes a correction module arranged on both sides of the frame conveying line and used to correct the position of the two ends of the frame entering the frame conveying line, a limiting side baffle plate for limiting the position of the two ends of the frame, and a material control and blocking mechanism arranged at the conveying end of the frame conveying line to realize frame material distribution.

[0013] Furthermore, the correction module includes a first cylinder and a correction plate driven by the first cylinder to move perpendicular to the frame conveying line; the material control blocking mechanism includes a first blocking plate that stops the first front frame on the frame conveying line from conveying forward, a second cylinder that drives the first blocking plate to move up and down, a second blocking plate that stops the second front frame on the frame conveying line from conveying forward, a third cylinder that drives the second blocking plate to move up and down or rotate, and a third blocking plate fixed at the end of the frame conveying line to stop the frame.

[0014] Furthermore, the positioning and suction module includes a plurality of air circuit blocks arranged at equal intervals along a first direction and installed on the mounting plate, a plurality of first suction cups arranged and installed along a second direction at the lower end of the air circuit block, and a fourth motor driving the plurality of air circuit blocks to simultaneously increase or simultaneously reduce the spacing along the first direction, and the first direction is perpendicular to the second direction.

[0015] Furthermore, the handling robot also includes a paper spacer suction assembly and a paper spacer clamping assembly arranged on the mounting plate for respectively sucking up the paper spacers and clamping the paper spacers; the paper spacer suction assembly includes a fourth cylinder, a movable frame driven by the fourth cylinder to move up and down, and a plurality of second suction cups fixed at the lower end of the movable frame; the paper spacer clamping assembly includes a fifth cylinder and a pair of first clamping jaws driven by the fifth cylinder to open or clamp.

[0016] Furthermore, the clamping module includes a rotating shaft rotatably arranged on the flip bracket and a pair of clamping components fixedly arranged at both ends of the rotating shaft; the clamping component includes a sixth cylinder fixed at the end of the rotating shaft and a pair of second clamping jaws driven by the sixth cylinder to open or clamp.

[0017] Furthermore, the rotary drive module includes a connecting rod connecting the rotating shafts of the four groups of clamping modules and a seventh cylinder installed on the flip bracket, the main body end of the seventh cylinder is hinged on the flip bracket and the piston rod end is hinged to the rotating shaft in one of the clamping modules.

[0018] Compared with the prior art, the beneficial effects of the automatic feeding device for the photovoltaic module frame of the utility model are:

[0019] (1) Two sets of frame feeding areas and two sets of conveying and dividing devices are provided to form double-station loading, and a handling robot is slidably arranged on the ground rail to realize double-station loading, which has high handling efficiency and can save the number of robots, realize ultra-fast feeding and reduce production costs;

[0020] (2) The handling robot is a six-axis robot. The fourth motor of the positioning and suction module provided on the handling robot can drive several air circuit blocks to move simultaneously along the first direction, and adjust the spacing between several first suction cups in the first direction to be suitable for the simultaneous suction of multiple frames of different widths, which can not only improve the handling efficiency, but also have higher versatility and good flexibility; the handling robot is provided with a paper suction component for sucking the separation paper and a paper clamping component for clamping the separation paper, which can automatically suck away the separation paper after one layer of frame is sucked, which is simple and convenient and does not require manual operation; the camera provided on the handling robot can obtain the horizontal plane position of the entire support frame to ensure that the suction center line of each first suction cup is parallel to the central axis of the long side of the frame, and ensure that each first suction cup can be accurately sucked onto the surface of the frame; the laser rangefinder provided on the handling robot measures the height of the four corner areas of the entire support frame to ensure that the suction plane of the first suction cup is parallel to the upper surface of the frame, thereby ensuring that multiple frames can be sucked at one time;

[0021] (3) A multi-layer frame conveyor line is set up to output four frames to the same horizontal position at the same time, and the frames are staggered in height; then, a handling and clamping unit with a flipping function is used. When taking materials, multiple groups of clamping modules are distributed in upper and lower intervals, corresponding to the height of the multi-layer frame conveyor line one by one, and multiple frames are clamped at the same time; when unloading materials, multiple groups of clamping modules are flipped to a horizontally spaced distribution state, and the vertically distributed frames are transformed into a horizontal distribution. Each clamping module is also equipped with a self-rotation function to adjust the frame posture change that occurs when the frame is transformed from a vertical distribution state to a horizontal distribution state, so as to ensure that it can be placed in the loading tooling of the subsequent frame assembly machine in the correct posture, thereby greatly improving the efficiency of taking frames.

Brief Description of the Drawings

[0022] Figure 1 This is a schematic diagram of the top view of the automatic feeding device for the photovoltaic module frame according to an embodiment of the utility model;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the automatic feeding device for the photovoltaic module frame according to the embodiment of the utility model;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the conveying and distributing device and the handling and clamping unit of the embodiment of the utility model;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the conveying and distributing device according to an embodiment of the utility model;

[0026] Figure 5 This is a schematic diagram of the partial three-dimensional structure of the conveying front end of the conveying and distributing device according to an embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the transport robot on the ground rail according to an embodiment of the utility model;

[0028] Figure 7 This is a schematic diagram of the three-dimensional structure of the movable end of the handling robot according to the embodiment of the utility model;

[0029] Figure 8 This is a schematic diagram of the three-dimensional structure of the positioning and suction module of an embodiment of the utility model;

[0030] Fig. 9 This is a three-dimensional structural schematic diagram of the paper separation suction component of the embodiment of the utility model;

[0031] Fig.10 This is a schematic diagram of the three-dimensional structure of the handling and clamping unit of the embodiment of the utility model;

[0032] Fig.11 This is a three-dimensional structural schematic diagram of the handling and clamping unit of the embodiment of the utility model when the material is released after taking the frame from the end of the frame conveying line;

[0033] Fig.12 This is a schematic diagram of the three-dimensional structure of the handling and clamping unit of the embodiment of the utility model when picking up materials at the end of the frame conveyor line;

[0034] The numbers in the figure represent:

[0035] 100-Automatic feeding device for photovoltaic module frame; 200-Frame;

[0036] 1-frame feeding area, 11-long frame feeding area, 12-short frame feeding area;

[0037] 2-conveying and distributing device, 21-returning module, 211-first cylinder, 212-returning plate, 22-limiting side baffle, 23-material control and blocking mechanism, 231-first baffle, 232-second cylinder, 233-second baffle, 234-third cylinder, 235-third baffle, 24-frame conveying line, 241-conveyor belt, 25-first sensor, 26-second sensor;

[0038] 3-handling manipulator, 31-mounting plate, 32-positioning and suction module, 321-air circuit block, 322-first suction cup, 323-fourth motor, 33-paper separation suction assembly, 331-fourth cylinder, 332-moving frame, 333-second suction cup, 34-paper separation clamping assembly, 341-fifth cylinder, 342-first clamping claw, 35-camera, 36-laser rangefinder, 37-ground rail;

[0039] 4-transportation clamping unit, 41-first motor, 42-first support plate, 43-second motor, 44-column, 45-second support plate, 46-turning bracket, 47-third motor, 48-clamping module, 481-rotating shaft, 482-clamping assembly, 4821-sixth cylinder, 4822-second clamping claw, 49-rotation driving module, 491-connecting rod, 492-seventh cylinder;

[0040] 5- Trolley. [Specific implementation method]

[0041] Please refer to Figure 1-Figure 12 The present embodiment is an automatic loading device 100 for photovoltaic component frames, which includes a frame feeding area 1, a conveying and dividing device 2 for conveying and dividing frames to obtain a set of frames, a transport robot 3 for transporting the frames 200 on the frame feeding area 1 to the conveying and dividing device 2, and a transport clamping unit 4 arranged above the end of the conveying and dividing device 2 for clamping and transporting the complete set of frames.

[0042] The frame feeding area 1 includes a long frame feeding area 11 and a short frame feeding area 12. The handling robot 3 respectively transports a plurality of long frames and a plurality of short frames to the conveying and dividing device 2. The conveying and dividing device 2 divides the plurality of long frames and a plurality of short frames to obtain a set of frames. The complete set of frames consists of two long frames and two short frames. The complete set of frames is then transported together by the handling and clamping unit 4 to the subsequent gluing station for gluing of the frames. After the gluing is completed, the frames are assembled.

[0043] The conveying and distributing device 2 includes a plurality of sets of frame conveying lines 24 which are distributed in parallel with each other at upper and lower intervals and are used to realize the conveying and distributing of the frames 200 to obtain a set of frames, a correction module 21 which is arranged on both sides of the frame conveying line 24 and corrects the position of the two ends of the frames entering the frame conveying line 24, a limiting side baffle 22 which limits the position of the two ends of the frame 200, and a material control and blocking mechanism 23 which is arranged at the conveying end of the frame conveying line 24 and realizes the distributing of the frames 200.

[0044] In this embodiment, four groups of frame conveyor lines 24 are arranged, which are arranged in parallel with each other at intervals. The four groups of frame conveyor lines 24 realize the conveying and feeding of two long frames and two short frames. The conveying ends of the four groups of frame conveyor lines 24 are arranged in an aligned manner, and all frame conveyor lines 24 convey the complete set of frames 200 to the same position up and down and are taken away by the handling and clamping unit 4 at the same time. Two conveyor belts 241 for conveying the frames 200 are arranged on each frame conveyor line 24, and the two conveyor belts 241 are arranged in parallel and at intervals.

[0045] The set correction module 21 can correct the positions of the two ends of the frame entering the frame conveying line 24. The correction module 21 includes a first cylinder 211 and a correction plate 212 driven by the first cylinder 211 to move perpendicular to the frame conveying line 24.

[0046] The set limiting side baffle 22 can ensure that the frame 200 will not deviate when being transported on the frame conveying line 24, and ensure that when the four groups of frame conveying lines 24 convey the frame 200 to the end, its front and rear positions and left and right positions are within the set range.

[0047] The four sets of frame conveying lines 24 output four frames to the conveying end, and the material control and blocking mechanism 23 is used to achieve blocking positioning, and ensure that only one frame 200 reaches the conveying end of the corresponding frame conveying line 24 at a time. The material control and blocking mechanism 23 includes a first blocking plate 231 that blocks the first frame 200 at the front of the frame conveying line 24 from being conveyed forward, a second cylinder 232 that drives the first blocking plate 231 to move up and down, a second blocking plate 233 that blocks the second frame 200 at the front of the frame conveying line 24 from being conveyed forward, a third cylinder 234 that drives the second blocking plate 233 to move up and down or to rotate, and a third blocking plate 235 that is fixed at the end of the frame conveying line 24 to stop the frame 200 from stopping.

[0048] The frame conveying line 24 is also provided with a first sensor 25 for detecting whether there is a frame 200 at the blocking position of the first blocking plate 231 and a second sensor 26 for detecting whether there is a frame 200 at the blocking position of the third blocking plate 235 .

[0049] In order to improve the efficiency of handling, the handling robot 3 is a six-axis handling robot with a large arm span of 3200mm, which can achieve 360° full-range movement. The handling robot 3 includes a mounting plate 31 arranged at the movable end of the robot arm, a positioning and suction module 32 arranged on the mounting plate 31 and used to position and suck the frame, a paper suction assembly 33 and a paper clamping assembly 34 arranged on the side of the mounting plate 31 and used to suck the separation paper respectively, a camera 35 fixed on the mounting plate 31 and used to take pictures and locate the frame, and a laser rangefinder 36 for measuring the height of the four corner areas of the entire support frame.

[0050] The positioning and absorbing module 32 includes a plurality of gas circuit blocks 321 arranged at equal intervals along a first direction and mounted on the mounting plate 31, a plurality of first suction cups 322 fixedly arranged along a second direction at the lower end of the gas circuit blocks 321, and a fourth motor 323 driving the plurality of gas circuit blocks 321 to simultaneously increase or simultaneously reduce the spacing along the first direction. The first direction is perpendicular to the second direction. When the positioning and absorbing module 32 absorbs the frame 200, the first direction is the width direction of the frame, and the second direction is the length direction of the frame. The second motor drives the plurality of gas circuit blocks 321 to move simultaneously along the first direction, and can simultaneously reduce the spacing between the plurality of gas circuit blocks 321 or simultaneously increase the spacing between the plurality of gas circuit blocks 321 to adjust the spacing between the plurality of first suction cups 322 in the first direction, so as to be suitable for the simultaneous absorption of multiple frames of different widths, which can not only improve the efficiency of transportation, but also have higher versatility and good flexibility. In this embodiment, ten gas circuit blocks 321 are arranged at equal intervals along the first direction, and ten frames can be adsorbed at the same time to improve the adsorption efficiency. In other embodiments, the number of gas circuit blocks 321 can be adjusted according to actual conditions and is not limited here. A plurality of first suction cups 322 fixedly arranged along the second direction at the lower end of the gas circuit block 321 are adsorbed on the same frame at the same time, which can improve the accuracy and reliability of adsorption.

[0051] Since the frame has an upper and lower surface, if the frame 200 on the frame feeding area 1 has reversed upper and lower surfaces, the transport robot 3 can drive the positioning and suction module 32 to rotate around the horizontal axis, thereby realizing the flipping of the upper and lower surfaces of the frame 200.

[0052] The transport robot 3 can drive the mounting plate 31 to drive the positioning and absorbing module 32 to rotate around the vertical axis, and can rotate and adjust the angle of the frame 200 in real time, so as to facilitate rapid positioning on the frame conveying line 24.

[0053] In order to ensure the accuracy and reliability of the frame absorption, two groups of positioning and absorption modules 32 are provided and are respectively arranged at both ends of the mounting plate 31. The two groups of positioning and absorption modules 32 are respectively adsorbed on the left and right ends of the frame 200, and the camera 35 and the laser rangefinder 36 are arranged in the middle of the two groups of positioning and absorption modules 32.

[0054] The camera 35 is used to obtain the horizontal position of the entire support frame. On the one hand, the center position that the positioning and suction module 32 needs to move when sucking the frame is determined to ensure that the suction center of the first suction cup 322 corresponds to the center of the frame width to prevent the frame from tilting during transportation; on the other hand, the placement angle of the suction center line of each first suction cup 322 when the positioning and suction module 32 sucks the frame is confirmed to ensure that the suction center line of each first suction cup 322 is parallel to the central axis of the long side of the frame, ensuring that each first suction cup 322 can be accurately sucked to the surface of the frame.

[0055] The laser rangefinder 36 is used to measure the height of the four corner areas of the entire support frame to determine the plane angle of the upper surface of the uppermost frame, and to determine the elevation angle of the adsorption plane of the first suction cup 322 when the positioning and adsorption module 32 adsorbs the frame, to ensure that the adsorption plane of the first suction cup 322 is parallel to the upper surface of the frame, thereby ensuring that multiple frames can be adsorbed at one time.

[0056] When the frames are stacked, in order to avoid friction between layers, paper separators are arranged between each layer of the frames. The paper separator suction assembly 33 and the paper separator clamping assembly 34 are arranged to remove the paper separators between each layer. A trolley 5 for placing paper separators is arranged beside the frame feeding area 1. The paper separator suction assembly 33 and the paper separator clamping assembly 34 take away the waste paper and place it in the trolley 5. The paper separator suction assembly 33 includes a fourth cylinder 331 fixed on the mounting plate 31, a moving frame 332 driven by the fourth cylinder 331 to move up and down, and a plurality of second suction cups 333 fixed at the lower end of the moving frame 332 and used to absorb the paper separators. The paper separator clamping assembly 34 includes a fifth cylinder 341 fixed on the mounting plate 31 and a pair of first clamping jaws 342 driven by the fifth cylinder to open or clamp and used to clamp the paper separators.

[0057] The transporting and clamping unit 4 includes a first motor 41, a first support plate 42 driven by the first motor 41 to move parallel to the conveying direction of the frame conveying line 24, a second motor 43 fixed on the first support plate 42, a column 44 driven by the second motor 43 to move up and down, a second support plate 45 fixed at the bottom of the column 44, a flip bracket 46 rotatably arranged on the second support plate 45, a third motor 47 fixed on the second support plate 45 and driving the flip bracket 46 to flip around a horizontal axis, a plurality of clamping modules 48 installed on the flip bracket 46, and a rotating drive module 49 arranged on the flip bracket 46 and driving the clamping module 48 to rotate so as to realize a 90° flipping of the frame.

[0058] The first motor 41 is fixed on the first support plate 42 , and horizontally drives the first support plate 42 through the cooperation of a gear and a rack.

[0059] The second motor 43 also drives the column 44 up and down through gear rack transmission.

[0060] Four groups of clamping modules 48 are provided corresponding to the frame conveying line 24, and can clamp four frames 200 at the same time. Each clamping module 48 includes a rotating shaft 481 rotatably arranged on the flip bracket 46 and a pair of clamping assemblies 482 fixedly arranged at both ends of the rotating shaft 481, and the clamping assembly 482 includes a sixth cylinder 4821 fixed at the end of the rotating shaft 481 and a pair of second clamping jaws 4822 driven by the sixth cylinder 4821 to open or clamp.

[0061] When the transporting and clamping unit 4 is picking up materials, the third motor 47 drives the flipping bracket 46 to be in an upright state, and the four groups of clamping modules 48 are distributed in an upper and lower interval, corresponding to the four-layer frame conveyor line 24. The four groups of clamping modules 48 clamp four frames at the same time at the end of the frame conveyor line 24, and then the flipping bracket 46 is flipped to a horizontal state, and the four frames 200 distributed in an upper and lower interval are transformed into a horizontally spaced distribution state.

[0062] When clamping the frame, the clamping module 48 clamps the front and rear surfaces of the frame. When the clamping module 48 is flipped 90° along with the flip bracket 46, the frame also rotates 90°. In order to ensure that the frame can be placed in the material receiving tooling of the subsequent frame assembly equipment in the correct posture, a rotating drive module 49 is provided on the flip bracket 46 to drive the clamping module 48 to rotate and thereby realize a 90-degree flip of the frame.

[0063] The rotation drive module 49 includes a connecting rod 491 connecting the rotating shafts 481 of the four clamping modules 48 and a seventh cylinder 492 installed on the flip bracket 46. The body end of the seventh cylinder 492 is hinged on the flip bracket 46 and the piston rod end is hinged to the rotating shaft 481 in one of the clamping modules 48. The seventh cylinder 492 drives the piston rod to extend or retract, thereby driving the rotating shaft 481 hinged to the piston rod to rotate. Under the transmission of the connecting rod 491, the other four rotating shafts are further driven to rotate synchronously, thereby realizing the rotation of the four clamping modules 48 and completing the 90-degree flipping of the frame.

[0064] In this embodiment, in order to improve production efficiency and cooperate with the operation of subsequent stations, the loading of the frame 200 is also set to double-station loading. In order to improve the efficiency of transportation and save space, the handling robot 3 is slidably set on the ground rail 37, so that the handling robot 3 can move forward and backward on the ground rail. Two groups of frame feeding areas 1 are set on the left side of the handling robot 3, and two groups of conveying and distributing devices 2 are set on the right side of the handling robot 3. A handling clamping unit 4 is configured above the ends of the two groups of conveying and distributing devices 2. One handling robot 3 realizes the loading of double stations at the same time, with high handling efficiency and can save the number of robots, while achieving ultra-fast beats and reducing production costs.

[0065] When the automatic loading device 100 for photovoltaic module frames of the present embodiment is working, when the handling robot 3 moves to the frame feeding area 1 to absorb multiple frames, the camera 35 is first used to obtain the horizontal position of the entire frame to ensure that each first suction cup 322 can be accurately adsorbed to the surface of the frame; then the laser rangefinder 36 is used to measure the height of the four corner areas of the entire frame to ensure that the first suction cup 322 can adsorb multiple frames at a time; after the positioning and adsorption module 32 has adsorbed the frame, the handling robot 3 starts to transport the multiple frames, and the handling robot 3 starts to transport the multiple frames. Hand 3 sucks and places the long frames on the long frame feeding area 11 on the frame conveying lines 24 of the first and fourth layers, and sucks and places the short frames on the short frame feeding area 12 on the frame conveying lines 24 of the second and third layers; at the input end, the alignment module 21 aligns the positions of the two ends of the frame so that they can smoothly enter the conveying channel of the frame conveying line 24; in the conveying channel, the limiting side baffle 22 always maintains the end limiting function during the whole conveying process of the frame; when it moves to the first blocking position on the side of the first blocking plate 231, The second cylinder 232 drives the first blocking plate 231 to rise and block all the frames; then the third cylinder 234 drives the second blocking plate 233 to block the second to last frame, and then the second cylinder 232 drives the first blocking plate 231 to withdraw, and the frontmost frame continues to be transported to the end of the frame conveying line 24, and stops under the blocking effect of the third blocking plate 235; when the second sensor 26 senses that a frame has arrived, the four groups of clamping modules 48 in the transport clamping unit 4 are distributed in an upper and lower interval, clamp the corresponding four frames, and then move to the next workpiece. At the same time, the four groups of clamping modules 48 are flipped to a horizontal spacing distribution state along with the flip bracket 46, and the rotating drive module 49 drives the clamping module 48 to rotate 90°, adjust the frame 200 to the correct posture and place it in the subsequent material receiving tooling to complete the automatic loading of the frame; when one layer of the frame is completely taken away, use the paper separation suction component 33 and the paper separation clamping component 34 to remove the paper separation on the surface of the frame, and then start the suction and transportation of the next layer of the frame; the handling robot 3 moves back and forth on the ground rail 37 to complete the loading action of the two stations at the same time.

[0066] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An automatic feeding device for a photovoltaic module frame, characterized in that: It includes a frame feeding area, a conveying and distributing device for conveying and distributing frames to obtain a set of frames, a transporting robot for transporting frames on the frame feeding area to the conveying and distributing device, and a transporting clamping unit arranged above the end of the conveying and distributing device for simultaneously clamping and transporting a set of frames; the conveying and distributing device includes a plurality of groups of frame conveying lines distributed in parallel with each other at intervals, and all of the frame conveying lines transport the set of frames to positions that are consistent with each other in the upper and lower parts; the transporting robot includes a mounting plate arranged at the movable end of the robot arm, a positioning and absorbing module arranged on the mounting plate and used for positioning and absorbing the frames, a camera fixed on the mounting plate and used for photographing and positioning the frames, and a laser rangefinder for measuring the heights of the four corner areas of the entire support frame.

2. The automatic feeding device for photovoltaic module frame according to claim 1, characterized in that: The frame feeding area is provided with two groups, and the conveying and distributing devices are provided with two groups corresponding to the frame feeding area. The transport robot is slidably arranged on the ground rail to facilitate transporting the frame on the frame feeding area to the corresponding conveying and distributing device.

3. The automatic feeding device for photovoltaic module frame according to claim 1, characterized in that: The transport and clamping unit includes a first motor, a first support plate driven by the first motor to move parallel to the conveying direction of the frame conveying line, a second motor fixed on the first support plate, a column driven by the second motor to move up and down, a second support plate fixed at the bottom of the column, a flip bracket rotatably arranged on the second support plate, a third motor fixed on the second support plate and driving the flip bracket to flip around a horizontal axis, a plurality of clamping modules installed on the flip bracket, and a rotating drive module arranged on the flip bracket and driving the clamping modules to rotate so as to realize a 90° flipping of the frame.

4. The automatic feeding device for photovoltaic module frame according to claim 3, characterized in that: The frame conveying lines are provided in four groups, and the clamping modules are provided in four groups corresponding to the frame conveying lines.

5. The automatic feeding device for photovoltaic module frame according to claim 1, characterized in that: The conveying and material distribution device also includes a correction module arranged on both sides of the frame conveying line and used to correct the position of the two ends of the frame entering the frame conveying line, a limiting side baffle plate for limiting the position of the two ends of the frame, and a material control and blocking mechanism arranged at the conveying end of the frame conveying line to realize frame material distribution.

6. The automatic feeding device for photovoltaic module frame according to claim 5, characterized in that: The return module includes a first cylinder and a return plate driven by the first cylinder to move perpendicular to the frame conveying line; the material control blocking mechanism includes a first blocking plate that stops the first frame at the front of the frame conveying line from being conveyed forward, a second cylinder that drives the first blocking plate to move up and down, a second blocking plate that stops the second frame at the front of the frame conveying line from being conveyed forward, a third cylinder that drives the second blocking plate to move up and down or to rotate, and a third blocking plate fixed at the end of the frame conveying line to stop the frame.

7. The automatic feeding device for photovoltaic module frame according to claim 1, characterized in that: The positioning and suction module includes a plurality of air circuit blocks arranged at equal intervals along a first direction and installed on the mounting plate, a plurality of first suction cups arranged and installed along a second direction at the lower end of the air circuit block, and a fourth motor driving the plurality of air circuit blocks to simultaneously increase or simultaneously reduce the spacing along the first direction, wherein the first direction is perpendicular to the second direction.

8. The automatic feeding device for photovoltaic module frame according to claim 1, characterized in that: The handling robot also includes a paper spacer suction assembly and a paper spacer clamping assembly arranged on the mounting plate for respectively sucking up the paper spacers; the paper spacer suction assembly includes a fourth cylinder, a movable frame driven by the fourth cylinder to move up and down, and a plurality of second suction cups fixed at the lower end of the movable frame; the paper spacer clamping assembly includes a fifth cylinder and a pair of first clamping jaws driven by the fifth cylinder to open or clamp.

9. The automatic feeding device for photovoltaic module frame according to claim 3, characterized in that: The clamping module includes a rotating shaft rotatably arranged on the flip bracket and a pair of clamping components fixedly arranged at both ends of the rotating shaft; the clamping component includes a sixth cylinder fixed at the end of the rotating shaft and a pair of second clamping jaws driven by the sixth cylinder to open or clamp.

10. The automatic feeding device for photovoltaic module frame according to claim 9, characterized in that: The rotary drive module includes a connecting rod connecting the rotating shafts of the four clamping modules and a seventh cylinder installed on the flip bracket, the body end of the seventh cylinder is hinged on the flip bracket and the piston rod end is hinged to the rotating shaft in one of the clamping modules.

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