Tray and manipulator for stacking flexible photovoltaic modules

Abstract

The utility model discloses a tray and manipulator for stacking flexible photovoltaic modules, which comprises a tray and a manipulator matched with the tray. The tray comprises a horizontal supporting plate used for supporting the flexible photovoltaic module, a limiting fence arranged at the edge position of the upper surface of the horizontal supporting plate and used for limiting the periphery of the flexible photovoltaic module, a supporting rib arranged on the right side of the lower surface of the horizontal supporting plate and a limiting rib arranged on the lower surface of the horizontal supporting plate. The manipulator comprises a gripper frame arranged at the movable tail end, a first clamping assembly and a second clamping assembly which are symmetrically arranged below the gripper frame, and a sensor which is arranged on the gripper frame and is used for confirming whether the flexible photovoltaic module in the tray is in a horizontal state or not. When the tray is stacked, the positioning effect is good, friction between the flexible photovoltaic modules can be avoided during stacking, and the stacking efficiency can be improved due to the fact that the mechanical arm and the tray are arranged in a matched mode.

Description

[Technical field]

[0001] The utility model belongs to the technical field of photovoltaic component production, and particularly relates to a tray and a manipulator for stacking flexible photovoltaic components. [Background technology]

[0002] At present, the production process of solar photovoltaic modules is constantly iterating and developing, and the market demand for flexible photovoltaic modules is also increasing. Since flexible photovoltaic modules are light, thin and easy to bend, and have strong waterproof and UV protection functions, the surface of the photovoltaic modules cannot be damaged during production and use. However, due to the special material of the flexible photovoltaic modules themselves, the surface is easily scratched. Therefore, the production requirements of flexible photovoltaic modules are very high. There should be no mutual squeezing and friction during the production and transportation process, especially during stacking.

[0003] In the prior art, for the stacking and handling of flexible photovoltaic modules, corresponding pallets are designed to protect the surface of the flexible photovoltaic modules from being scratched. For example, patent publication number CN114141674A discloses a handling device for flexible photovoltaic modules, wherein the handling device for the flexible photovoltaic modules comprises at least one pallet, wherein the pallet comprises two telescopic long rods, at least two telescopic short rods and at least four protective members, wherein the protective members are used to protect the corners of the flexible photovoltaic modules. Since the size of the flexible photovoltaic modules is relatively small, a plurality of partitions are uniformly arranged in sequence along the extending direction of the protective members in this scheme, and the flexible photovoltaic modules are supported on the partitions. Therefore, a plurality of flexible photovoltaic modules can be placed on a pallet, which can improve the handling efficiency. However, in this scheme, partitions are only arranged on the four corners and no partitions are arranged at the other positions. Since the bending degree of the flexible photovoltaic modules is large, especially the central area of ​​the flexible photovoltaic modules will be bent to a large extent, and no partitions are arranged in the central area of ​​the pallet in this scheme, the plurality of flexible photovoltaic modules placed on the pallet will rub against each other during transportation, thereby causing the surface of the flexible photovoltaic modules to be scratched.

[0004] Therefore, it is necessary to provide a flexible photovoltaic module stacking pallet and a robot to solve the above technical problems. [Utility Model Content]

[0005] The main purpose of the utility model is to provide a pallet and a manipulator for stacking flexible photovoltaic components. The pallet has a good positioning effect during stacking and can avoid friction between the flexible photovoltaic components during stacking. The matching arrangement of the manipulator and the pallet can improve the stacking efficiency.

[0006] The utility model achieves the above-mentioned purpose through the following technical scheme: a pallet and a manipulator for stacking flexible photovoltaic components, which include a horizontal pallet for holding the flexible photovoltaic components, a limiting enclosure arranged at the edge position of the upper surface of the horizontal pallet and used to limit the four sides of the flexible photovoltaic components, a supporting ridge arranged on the right side of the lower surface of the horizontal pallet, and a limiting ridge arranged on the lower surface of the horizontal pallet and positioned to the inner side of the limiting enclosure of the lower pallet to achieve the coordinated positioning of the upper pallet and the lower pallet; when the upper pallet is stacked on the lower pallet, the supporting ridge on the right side of the lower surface of the upper pallet is positioned on the lower horizontal pallet, and the edges of the other three sides of the lower surface are positioned on the upper surface of the limiting enclosure of the lower pallet.

[0007] Furthermore, a plurality of flexible photovoltaic modules are placed side by side on the horizontal support plate.

[0008] Furthermore, the limiting enclosure includes a first enclosure and a second enclosure that are symmetrical on the front and rear sides and aligned with the front and rear outer edges of the horizontal support plate, a third enclosure aligned on the left with the left outer edge of the horizontal support plate, and a fourth enclosure located on the right side of the horizontal support plate and aligned with the right sides of the first enclosure and the second enclosure.

[0009] Furthermore, an installation gap is provided between the fourth enclosure and the right edge of the horizontal support plate, and the limiting ridge is positioned in the installation gap when the upper pallet is stacked onto the lower pallet.

[0010] Furthermore, a plurality of first avoidance openings are arranged in the middle of the first enclosure; a plurality of second avoidance openings are arranged in the middle of the second enclosure and are opposite to the first avoidance openings in front and behind; the front and rear ends of the third enclosure are respectively connected to the left ends of the first enclosure and the second enclosure and first openings are arranged at both ends; the front and rear ends of the fourth enclosure are both disconnected from the right ends of the first enclosure and the second enclosure to form a third avoidance opening for pasting tape.

[0011] Furthermore, the limiting ridges include a first limiting ridge that is inserted into the inner side of the first enclosure of the tray 1 below, a second limiting ridge that is inserted into the inner side of the second enclosure, and a third limiting ridge that abuts against the inner side of the third enclosure at one end and the inner side of the fourth enclosure at the other end.

[0012] Furthermore, the limiting enclosure is consistent in height with the supporting ridge, and the height of the limiting ridge is less than the height of the limiting enclosure; the heights of the first enclosure, the second enclosure, the third enclosure and the fourth enclosure are consistent; the heights of the first limiting ridge, the second limiting ridge and the third limiting ridge are consistent.

[0013] Another object of the utility model is to provide a manipulator for stacking flexible photovoltaic modules, wherein the manipulator is matched with the pallet described above and is used to carry the pallet and stack the pallet layer by layer.

[0014] Furthermore, the manipulator includes a gripper frame arranged at a movable end, a first clamping assembly symmetrically arranged below the gripper frame and used to hold and clamp one side of the pallet, and a second clamping assembly for holding and clamping the other opposite side of the pallet, and a sensor arranged on the gripper frame and used to confirm whether the flexible photovoltaic assembly in the pallet is in a horizontal state.

[0015] Furthermore, the first clamping assembly and the second clamping assembly have the same structure and both include a first driving member fixed to the lower end of the gripping frame, a first support plate driven by the first driving member to perform linear motion, a second driving member fixed to the first support plate, a lower clamping jaw fixed to the second driving member, and an upper clamping jaw driven by the second driving member to move up and down.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] (1) A plurality of flexible photovoltaic modules can be placed side by side in a tray, and adhesive tape is used to stick the flexible photovoltaic modules to a horizontal pallet at the corners of each flexible photovoltaic module, so that the flexible photovoltaic modules placed side by side will not rub against each other, and a plurality of flexible photovoltaic modules can be placed in a tray at the same time, and the manipulator can carry and stack a plurality of flexible photovoltaic modules at a time, thereby avoiding friction between the flexible photovoltaic modules and improving the stacking efficiency of the flexible photovoltaic modules;

[0018] (2) When stacking on pallets, the limiting enclosures and limiting ridges on the pallets cooperate to limit the front-to-back and left-to-right movement of the upper and lower pallets, ensuring that the pallets can be completely aligned front-to-back and left-to-right even when stacking multiple layers, and can effectively prevent the pallets from shifting during stacking; although the flexible photovoltaic modules have a large curvature, the limiting ridges of the upper pallet extend laterally into the interior of the lower pallet and extend left and right across the upper surface of all flexible photovoltaic modules, so that the lower surface of the limiting ridges can limit the up and down movement and bending of the flexible photovoltaic modules in the lower pallet;

[0019] (3) The clamping assembly of the manipulator is provided with an upper clamping jaw and a lower clamping jaw, the lower clamping jaw is fixedly arranged on the second driving member, the supporting portion of the lower clamping jaw extends into the lower surface of the pallet, and the upper clamping jaw moves up and down to press the upper surface of the pallet, and the lower clamping jaw is fixedly arranged to avoid deformation of the pallet due to upper and lower clamping. Therefore, the fixed arrangement of the lower clamping jaw can not only ensure the stability when holding the pallet but also effectively prevent deformation of the pallet;

[0020] (4) The robot is provided with a sensor for detecting and confirming whether the flexible photovoltaic components in the tray are in a horizontal state. If the flexible photovoltaic components are in a horizontal state, the handling action will continue. If the flexible photovoltaic components are not in a horizontal state and have problems such as bending and wrinkling, the sensor will alarm to prompt the staff to confirm and handle. The use of this non-contact sensor has high detection accuracy and will not damage the tray 1 and the flexible photovoltaic components.

[0021] Therefore, the present solution provides a pallet and a robot for stacking flexible photovoltaic modules. The pallet has a good positioning effect during stacking and can avoid friction between the flexible photovoltaic modules during stacking. The matching setting of the robot and the pallet can improve the stacking efficiency.

Brief Description of the Drawings

[0022] Figure 1 This is a schematic diagram of the three-dimensional structure of a manipulator carrying a tray on which flexible photovoltaic modules are placed according to an embodiment of the utility model;

[0023] Figure 2 This is a schematic diagram of the front view of a manipulator carrying a tray on which flexible photovoltaic modules are placed according to an embodiment of the utility model;

[0024] Figure 3 This is a schematic diagram of the top view of the tray structure of an embodiment of the utility model;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the tray in the embodiment of the utility model when viewed from above;

[0026] Figure 5 This is a schematic diagram of the arrangement structure of flexible photovoltaic components on a tray according to an embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the movable end of the manipulator according to the embodiment of the utility model;

[0028] Figure 7 This is a schematic diagram of the three-dimensional structure of the first clamping assembly and the second clamping assembly in an embodiment of the utility model;

[0029] The numbers in the figure represent:

[0030] 200-Flexible photovoltaic modules;

[0031] 1-tray, 11-horizontal support plate, 12-limiting enclosure, 121-first enclosure, 1211-first avoidance opening, 122-second enclosure, 1221-second avoidance opening, 123-third enclosure, 1231-first opening, 124-fourth enclosure, 1241-third avoidance opening, 125-installation gap, 13-limiting rib, 131-first limiting rib, 132-second limiting rib, 133-third limiting rib, 14-supporting rib;

[0032] 2-manipulator, 21-gripper, 22-first clamping assembly, 221-first driving member, 222-first supporting plate, 223-second driving member, 224-lower clamping jaw, 2241-lifting portion, 225-upper clamping jaw, 2251-pressing portion, 23-second clamping assembly, 24-sensor. [Specific implementation method]

[0033] Please refer to Figure 1-Figure 7 One of the purposes of this embodiment is to provide a flexible photovoltaic module stacking pallet 1, which is used to place flexible photovoltaic modules 200. In this embodiment, the material of the pallet 1 is paper, which will not cause friction, scratches and other destructive effects on the flexible photovoltaic modules 200. In other embodiments, it can be adjusted according to actual conditions and is not limited here.

[0034] The tray 1 includes a horizontal support plate 11 which is horizontally arranged and used to support the flexible photovoltaic module 200, a limiting enclosure 12 which is arranged at the edge of the upper surface of the horizontal support plate 11 and is used to limit the four sides of the flexible photovoltaic module 200, a supporting ridge 14 which is arranged on the right side of the lower surface of the horizontal support plate 11, and a limiting ridge 13 which is arranged on the lower surface of the horizontal support plate 11 and is positioned to the inner side of the limiting enclosure 12 of the lower tray 1 to realize the coordinated positioning of the upper tray 1 and the lower tray 1; the limiting enclosure 12 is at the same height as the supporting ridge 14.

[0035] The horizontal pallet 11 is similar in appearance to the flexible photovoltaic component 200 and has a square structure. The flexible photovoltaic component 200 is placed horizontally on the horizontal pallet 11, and then the flexible photovoltaic component 200 is adhered to the horizontal pallet 11 with tape at the corners. Since the size of the flexible photovoltaic component 200 is relatively small, in order to improve the efficiency of palletizing, a number of flexible photovoltaic components 200 can be evenly placed side by side on the horizontal pallet 11, and tape is used on the corners of each flexible photovoltaic component 200 to adhere the flexible photovoltaic component 200 to the horizontal pallet 11. In this way, a number of flexible photovoltaic components 200 can be placed in a pallet 1 at the same time, and a number of flexible photovoltaic components 200 can be transported and palletized at one time, thereby improving the efficiency of palletizing. Moreover, a number of flexible photovoltaic components 200 are placed side by side and adhered to the horizontal pallet 11 at the same time, so that no friction or extrusion will occur during transportation.

[0036] The limiting enclosure 12 includes a first enclosure 121 and a second enclosure 122 that are symmetrical on the front and rear sides and aligned with the front and rear outer edges of the horizontal support plate 11, a third enclosure 123 that is aligned with the left outer edge of the horizontal support plate 11 on the left, and a fourth enclosure 124 that is located on the right side of the horizontal support plate 11 and aligned with the right sides of the first enclosure 121 and the second enclosure 122. An installation gap 125 is provided between the fourth enclosure 124 and the right edge of the horizontal support plate 11. The first enclosure 121, the second enclosure 122, the third enclosure 123, and the fourth enclosure 124 have the same height.

[0037] A plurality of first avoidance openings 1211 are disposed in the middle of the first enclosure 121 , and a plurality of second avoidance openings 1221 opposite to the first avoidance openings 1211 are disposed in the middle of the second enclosure 122 .

[0038] The front and rear ends of the third enclosure 123 are respectively connected to the first enclosure 121 and the left end of the second enclosure. First openings 1231 are set at both ends of the third enclosure 123. The first openings 1231 are set to facilitate confirmation from the left side of the tray 1 whether a flexible photovoltaic component 200 is placed on the horizontal support plate 11.

[0039] The front and rear ends of the fourth enclosure 124 are disconnected from the first enclosure 121 and the right end of the second enclosure to form a third avoidance opening 1241 for sticking the tape.

[0040] The limiting rib 13 includes a first limiting rib 131 which is inserted into the inner side of the first enclosure 121 on the lower pallet 1, a second limiting rib 132 which is inserted into the inner side of the second enclosure 122 on the lower pallet 1, and a third limiting rib 133 whose one end abuts against the inner side of the third enclosure 123 and the other end abuts against the inner side of the fourth enclosure 124; when the pallets 1 are stacked up and down, the supporting rib 14 extends into the installation gap 125 of the lower pallet 1 and is aligned with the right edge of the horizontal support plate 11; the first limiting rib 131, the second limiting rib 132 and the third limiting rib 133 have the same height.

[0041] The height of the limiting ridge 13 is smaller than the height of the limiting enclosure 12, so that when the upper pallet 1 is stacked onto the lower pallet 1, the flexible photovoltaic assembly 200 placed on the horizontal pallet 11 will not be pressed by the limiting ridge 13, so that no friction will be generated between the bottom of the pallet 1 and the flexible photovoltaic assembly 200 on the horizontal pallet 11.

[0042] When the upper pallet 1 is stacked on the lower pallet 1, the supporting ridge 14 on the right side of the lower surface of the upper pallet 1 is positioned in the installation gap 125 on the horizontal support plate 11 of the lower pallet 1 and is aligned with the right edge of the horizontal support plate 11, and the edge positions of the other three sides of the lower surface of the upper pallet 1 are all positioned on the upper surface of the limiting enclosure 12 corresponding to the lower pallet 1, and at the same time, the first limiting ridge 131 and the second limiting ridge 132 of the upper pallet 1 are simultaneously inserted into the inner sides of the first enclosure 121 and the second enclosure 122, and one end of the third limiting ridge abuts against the inner side of the third enclosure 123 and the other end abuts against the inner side of the fourth enclosure 124, thereby realizing the stacking of the upper pallet 1 and the lower pallet 1.

[0043] The first limiting rib 131 and the second limiting rib 132 are respectively connected and positioned with the second enclosure 121 and the second enclosure 122 to limit the front-to-back movement of the upper and lower pallets 1 when the pallets 1 are stacked. The left and right ends of the third limiting rib 133 are respectively connected and positioned with the third enclosure 123 and the fourth enclosure 124 to limit the left-to-right movement of the upper and lower pallets 1 when the pallets 1 are stacked. Therefore, the limiting enclosure 12 and the limiting rib 13 provided on the pallet 1 cooperate with each other to limit the front-to-back and left-to-right movement of the upper and lower pallets 1, thereby ensuring that the pallets 1 are stacked. During stacking, even if there are multiple layers of stacking, the front-to-back and left-to-right alignment can be achieved, which can effectively prevent the tray 1 from shifting during stacking; although the flexible photovoltaic assembly 200 has a large curvature, the limiting rib 13 of the upper tray 1 extends laterally into the interior of the lower tray 1 and extends left and right across the upper surface of all the flexible photovoltaic assemblies 200, so that the lower surface of the limiting rib 13 can limit the up and down movement of the flexible photovoltaic assembly 200 in the lower tray 1, thereby avoiding friction on the surface of the flexible photovoltaic assembly 200 in the tray 1.

[0044] Another purpose of this embodiment is to provide a flexible photovoltaic module stacking robot 2, the robot 2 is matched with the pallet 1, and is used to carry the pallet 1 and stack the pallet 1 layer by layer.

[0045] The robot 2 includes a gripper frame 21 at a movable end, a first clamping assembly 22 symmetrically arranged below the gripper frame 21 and used to clamp and support one side of the pallet 1, a second clamping assembly 23 clamping and supporting the other opposite side of the pallet 1, and a sensor 24 arranged on the gripper frame 21 and used to confirm whether the flexible photovoltaic assembly 200 in the pallet 1 is in a horizontal state.

[0046] The first clamping assembly 22 and the second clamping assembly 23 have the same structure and both include a first driving member 221 fixed to the lower end of the gripping frame 21, a first supporting plate 222 driven by the first driving member 221 to perform linear motion, a second driving member 223 fixed on the first supporting plate 222, a second driving member 223 fixed on the first supporting plate 222, a lower clamping jaw 224 fixed on the second driving member 223, and an upper clamping jaw 225 driven by the second driving member 223 to move up and down.

[0047] The lower jaw 224 and the upper jaw 225 are both in a "Z"-shaped structure. The end of the lower jaw 224 includes a horizontally extending supporting portion 2241 that supports the lower surface of the tray 1, and the end of the upper jaw 225 includes a horizontally extending pressing portion 2251 that presses the upper surface of the tray 1.

[0048] The lower clamp 225 is fixedly arranged on the second driving member 223. When the supporting portion 2241 of the lower clamp 225 extends into the lower surface of the pallet 1, the upper clamp 225 moves up and down to press the upper surface of the pallet 1. The lower clamp 225 is fixedly arranged to avoid deformation of the pallet 1 due to upper and lower clamping. Therefore, the fixed arrangement of the lower clamp 225 can not only ensure the stability when supporting the pallet 1, but also effectively prevent deformation of the pallet 1.

[0049] In this embodiment, two first clamping assemblies 22 and two second clamping assemblies 23 are provided, and the two first clamping assemblies 22 extend from the first avoidance opening 1211 at the same time and clamp and hold one side of the pallet 1, and the two second clamping assemblies 23 extend from the second avoidance opening 1221 at the same time and clamp and hold the other opposite side of the pallet 1. When the manipulator 2 is carrying, the four clamping assemblies clamp and hold the pallet 1 at the same time, which can ensure the stability during the carrying and improve the reliability of the manipulator 2. In other embodiments, the number and layout of the clamping assemblies can be adjusted according to the actual weight of the pallet 1 being carried, which is not limited here.

[0050] Several sensors 24 are arranged on the gripper frame 21. By comparing several groups of signals from several sensors 24, the distance between the manipulator 2 and the flexible photovoltaic assembly 200 and whether the flexible photovoltaic assembly 200 is in a horizontal state are confirmed. The sensor 24 detects and confirms the distance between the lower clamping jaw 224 and the upper clamping jaw 225 of the manipulator 2 and the flexible photovoltaic assembly 200 in the tray 1, and then confirms whether the lower clamping jaw 224 and the upper clamping jaw 225 are moved in place. At the same time, before the manipulator 2 carries the tray 1, the sensor 24 can detect whether the flexible photovoltaic assembly 200 in the tray 1 is in a horizontal state. If the flexible photovoltaic assembly 200 is in a horizontal state, the carrying action will continue. If the flexible photovoltaic assembly 200 is not in a horizontal state and has problems such as bending and wrinkling, the sensor 24 will alarm to prompt the staff to confirm and handle it. Using this non-contact sensor 24, the detection accuracy is high and the tray 1 and the flexible photovoltaic assembly 200 will not be damaged.

[0051] In this embodiment, the sensor 24 is an ultrasonic sensor, and there are two sensors 24. In other embodiments, the type and quantity of the sensors can be adjusted according to actual conditions and are not limited here.

[0052] The working principle of the pallet and robot for stacking flexible photovoltaic components provided in this solution is as follows: the flexible photovoltaic component 200 is placed horizontally on the horizontal support plate 11 of the pallet 1, and the flexible photovoltaic component 200 is adhered to the horizontal support plate 11 with tape, the robot 2 moves to the top of the pallet 1, and the sensor 24 detects and confirms the distance between the lower clamping jaw 224 and the upper clamping jaw 225 of the robot 2 and the flexible photovoltaic component 200 in the pallet 1, thereby moving the lower clamping jaw 224 and the upper clamping jaw 225 into place. At the same time, before the robot 2 moves the pallet 1, the sensor 24 detects whether the flexible photovoltaic component 200 in the pallet 1 is in a horizontal state. After the detection is completed, the robot 2 moves the pallet 1 to the stacking area, and the limiting ridge 13 on the lower surface of the upper pallet 1 and the limiting enclosure 12 on the upper surface of the lower pallet are mutually engaged and positioned to achieve stacking between the upper pallet 1 and the lower pallet 1, and keep the four sides completely aligned to achieve stacking of multiple layers of pallets 1.

[0053] 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. A flexible photovoltaic module pallet, characterized by: It includes a horizontal pallet for holding the flexible photovoltaic module, a limiting enclosure arranged at the edge of the upper surface of the horizontal pallet and used to limit the four sides of the flexible photovoltaic module, a supporting ridge arranged on the right side of the lower surface of the horizontal pallet, and a limiting ridge arranged on the lower surface of the horizontal pallet and positioned to the inner side of the limiting enclosure of the lower pallet to achieve the coordinated positioning of the upper pallet and the lower pallet; when the upper pallet is stacked on the lower pallet, the supporting ridge on the right side of the lower surface of the upper pallet is positioned on the lower horizontal pallet, and the edges of the other three sides of the lower surface are positioned on the upper surface of the limiting enclosure of the lower pallet.

2. A flexible photovoltaic module pallet as claimed in claim 1, characterized in that: A plurality of flexible photovoltaic modules are placed side by side on the horizontal support plate.

3. A flexible photovoltaic module palletizing pallet as claimed in claim 1, characterized in that: The limiting enclosure includes a first enclosure and a second enclosure that are symmetrical on the front and rear sides and aligned with the front and rear outer edges of the horizontal support plate, a third enclosure on the left side aligned with the left outer edge of the horizontal support plate, and a fourth enclosure located on the right side of the horizontal support plate and aligned with the right sides of the first enclosure and the second enclosure.

4. A flexible photovoltaic module pallet as claimed in claim 3, characterized in that: An installation gap is provided between the fourth enclosure and the right edge of the horizontal support plate, and the limiting ridge is positioned in the installation gap when the upper pallet is stacked onto the lower pallet.

5. A flexible photovoltaic module pallet as claimed in claim 3, characterized in that: A plurality of first avoidance openings are arranged in the middle of the first enclosure; a plurality of second avoidance openings are arranged in the middle of the second enclosure and are opposite to the first avoidance openings in front and behind; the front and rear ends of the third enclosure are respectively connected to the left ends of the first enclosure and the second enclosure and first openings are arranged at both ends; the front and rear ends of the fourth enclosure are both disconnected from the right ends of the first enclosure and the second enclosure to form a third avoidance opening for sticking tape.

6. A flexible photovoltaic module pallet as claimed in claim 3, characterized in that: The limiting ridges include a first limiting ridge that is inserted into the inner side of the first enclosure of the tray below, a second limiting ridge that is inserted into the inner side of the second enclosure, and a third limiting ridge that abuts against the inner side of the third enclosure at one end and the inner side of the fourth enclosure at the other end.

7. A flexible photovoltaic module pallet as claimed in claim 6, characterized in that: The limiting enclosure is consistent in height with the supporting ridge, and the limiting ridge is less in height than the limiting enclosure; the first enclosure, the second enclosure, the third enclosure and the fourth enclosure are consistent in height; the first limiting ridge, the second limiting ridge and the third limiting ridge are consistent in height.

8. A flexible photovoltaic module stacking robot, characterized by: The robot is matched with the pallet according to claim 1 and is used to carry the pallet and stack the pallet layer by layer.

9. A flexible photovoltaic module stacking robot as claimed in claim 8, characterized in that: The manipulator includes a gripper frame arranged at a movable end, a first clamping assembly symmetrically arranged below the gripper frame and used to hold and clamp one side of the pallet, a second clamping assembly supporting and clamping the other opposite side of the pallet, and a sensor arranged on the gripper frame and used to confirm whether the flexible photovoltaic assembly in the pallet is in a horizontal state.

10. A flexible photovoltaic module stacking robot as claimed in claim 9, characterized in that: The first clamping assembly and the second clamping assembly have the same structure and both include a first driving member fixed to the lower end of the gripper frame, a first support plate driven by the first driving member to perform linear motion, a second driving member fixed to the first support plate, a lower clamping jaw fixed to the second driving member, and an upper clamping jaw driven by the second driving member to move up and down.

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