Perovskite substrate feeding system

Abstract

The utility model relates to the technical field of perovskite photovoltaic assembly manufacturing, in particular to a perovskite substrate feeding system which comprises a feeding device and a discharging device, the feeding device comprises a six-axis robot and a substrate taking arm mechanism, and the substrate taking arm mechanism is installed on a sixth axis of the six-axis robot; the discharging mechanism comprises a conveying assembly line and a restoration mechanism, and the restoration mechanism is installed on the conveying assembly line and used for restoring the substrates placed on the conveying assembly line. According to the base plate feeding system, feeding can be achieved through automatic plate suction, the six-axis robot drives the arm of the plate suction to move vertically, so that base plate spacing cushion blocks are removed, the isolation cushion blocks are collected to fixed positions, the base plates are placed on the assembly line with the correction function, and after the assembly line is corrected, the base plates are conveyed to the next working procedure. Rapid, automatic and continuous feeding is achieved, meanwhile, the labor intensity of workers is reduced, and the problems in the technical background can be effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of perovskite photovoltaic component manufacturing, and in particular to a perovskite substrate feeding system. Background Art

[0002] With the development of perovskite photovoltaic module technology, BIPV represented by perovskite photovoltaics is increasingly used in the construction field. Its unique product advantages have prompted major module manufacturers to expand the research and development and mass production of perovskite modules. The automated production line of perovskite photovoltaic modules includes processes such as loading, film coating, layout, string welding, lamination, and packaging. Due to the heavy substrate of perovskite modules, it is difficult to automate the loading process. Traditional gantry glass loading cannot realize the loading of heavier glass, and it is impossible to remove the pads between the glass. At present, many perovskite photovoltaic production companies mostly use manual loading and manual removal of pads for production, which is slow and inefficient. Utility Model Content

[0003] In view of the shortcomings in the prior art, the purpose of the utility model is to provide a perovskite substrate loading system with a simple structure and easy use. The substrate loading system can load the substrate by automatically sucking the substrate, and the six-axis robot drives the arm of the sucking plate to move vertically, thereby removing the substrate spacing pads, and collecting the isolation pads to a fixed position, and placing the substrate on a correction assembly line. After the assembly line is corrected, the substrate is transported to the next process, realizing fast, automatic and continuous loading, while reducing the intensity of manual labor, which can effectively solve the problems in the technical background.

[0004] To achieve the above-mentioned purpose, the technical solution of the utility model is: a perovskite substrate loading system, including a loading device and a discharge device, the loading device includes a six-axis robot and a substrate taking arm mechanism, and the substrate taking arm mechanism is installed on the sixth axis of the six-axis robot; the discharge device includes a conveying line and a correction mechanism, and the correction mechanism is installed on the conveying line for correcting the substrate placed on the conveying line.

[0005] Furthermore, the substrate taking arm mechanism includes a plate suction arm frame and a vacuum suction cup. One side of the plate suction arm frame is installed on the sixth axis of the six-axis robot through a flange, and the vacuum suction cup is evenly distributed on the side of the plate suction arm frame opposite to the sixth axis of the six-axis robot.

[0006] Furthermore, the substrate taking arm mechanism also includes a vacuum generator and a vacuum detection pressure gauge. The vacuum generator is installed on the inner side of the crossbeam of the suction plate arm frame, and the vacuum detection pressure gauge is installed on the suction plate arm frame. The vacuum generator is connected to the vacuum suction cup through a grouped hose, and the air pipe of the vacuum suction cup is also connected to the vacuum detection pressure gauge.

[0007] Furthermore, the substrate taking arm mechanism also includes a vacuum suction solenoid valve, which is installed on the substrate suction arm frame. The outlet end of the vacuum suction solenoid valve is connected to the vacuum generator, and whether the vacuum generator generates negative pressure suction is controlled by controlling the on and off of the vacuum suction solenoid valve.

[0008] Furthermore, the substrate taking arm mechanism also includes a suction plate detection ejector pin and an ejector pin in place detection sensor. The suction plate detection ejector pin is installed on the suction plate arm frame through a bracket, and the ejector pin in place detection sensor is installed on the suction plate detection ejector pin bracket.

[0009] Furthermore, the six-axis robot is provided with a robot electrical cabinet, the vacuum detection pressure gauge signal and the ejector pin in position detection sensor signal are both connected to the robot electrical cabinet input signal port, the vacuum suction solenoid valve is connected to the robot electrical cabinet, and the robot electrical cabinet controls the vacuum suction solenoid valve to open or close through software.

[0010] Furthermore, the conveying line is used to place the substrates grasped by the six-axis robot, and the correction mechanism is installed on both sides of the long side of the conveying line.

[0011] Furthermore, the unloading device also includes a photoelectric sensor, which is installed on the conveying line and is used to detect whether there is a substrate on the conveying line.

[0012] Furthermore, the discharge device also includes a conveyor line electrical cabinet, which is installed under the conveyor assembly line frame, and the photoelectric sensor is electrically connected to the conveyor line electrical cabinet; when the substrate needs to be placed on the conveyor assembly line, the conveyor line electrical cabinet and the robot electrical cabinet need to exchange signals.

[0013] The advantages of adopting the technical solution of the utility model are:

[0014] 1. The substrate loading system of the utility model can load the substrate by automatically sucking the substrate, and the six-axis robot drives the arm of the sucking plate to move vertically, thereby removing the substrate spacing pads, and collecting the isolation pads to a fixed position, and placing the substrate on a correction assembly line. After the assembly line is corrected, the substrate is transported to the next process, realizing fast, automatic and continuous loading, while reducing the intensity of manual labor, which can effectively solve the problems in the technical background.

[0015] 2. Compared with the prior art, the substrate loading system of the utility model can realize automatic loading for large and heavy substrates, and remove the pad in the middle of the substrate, replacing manual labor, reducing the intensity of manual labor, and at the same time can realize continuous operation, ensure safe production, and improve labor productivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is a schematic diagram of the overall structure of the perovskite substrate feeding control system of the utility model.

[0018] The marks in the above figure are: 1. six-axis robot; 2. substrate taking arm mechanism; 21. plate suction arm frame; 3. vacuum suction cup; 4. vacuum suction solenoid valve; 5. vacuum generator; 6. vacuum detection pressure gauge; 7. substrate; 8. robot base; 9. plate suction detection ejector pin; 10. ejector in place detection sensor; 11. robot electrical cabinet; 12. conveying line; 13. alignment mechanism; 131. linear guide; 132. servo motor; 133. alignment frame; 134. alignment wheel; 14. conveyor line electrical cabinet; 15. photoelectric sensor. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0020] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] like Figure 1As shown, a perovskite substrate loading system includes a loading device and a discharge device, wherein the loading device includes a six-axis robot 1 and a substrate taking arm mechanism 2, and the substrate taking arm mechanism 2 is installed on the sixth axis of the six-axis robot 1; the discharge device includes a conveying line 12 and a correction mechanism 13, and the correction mechanism 13 is installed on the conveying line 12, and is used to correct the substrate placed on the conveying line. The substrate loading system of the utility model can load the substrate by automatically sucking the plate, and the six-axis robot drives the arm of the sucking plate to move vertically, thereby removing the substrate spacing pad, and collecting the isolation pad to a fixed position, and placing the substrate on the assembly line with correction. After the assembly line is corrected, the substrate is conveyed to the next process, realizing fast, automatic and continuous loading, while reducing the intensity of manual labor, which can effectively solve the problems in the technical background.

[0022] The substrate taking arm mechanism 2 includes a plate suction arm frame 21 and a vacuum suction cup 3. One side of the plate suction arm frame 21 is installed on the sixth axis of the six-axis robot 1 through a flange, and the vacuum suction cup 3 is evenly distributed on the side of the plate suction arm frame 21 opposite to the sixth axis of the six-axis robot 1.

[0023] The substrate taking arm mechanism 2 also includes a vacuum generator 5 and a vacuum detection pressure gauge 6. The vacuum generator 5 is installed on the inner side of the crossbeam of the suction plate arm frame 21. The vacuum detection pressure gauge 6 is installed on the suction plate arm frame 21. The vacuum generator 5 is connected to the vacuum suction cup 3 through a grouped hose. The air pipe of the vacuum suction cup 3 is also connected to the vacuum detection pressure gauge 6.

[0024] The substrate taking arm mechanism 2 also includes a vacuum suction solenoid valve 4, which is installed on the substrate suction arm frame 21. The outlet end of the vacuum suction solenoid valve 4 is connected to the vacuum generator 5. By controlling the on and off of the vacuum suction solenoid valve 4, the vacuum generator is controlled to generate negative pressure suction.

[0025] The substrate taking arm mechanism 2 also includes a suction plate detection ejector pin 9 and an ejector pin in place detection sensor 10. The suction plate detection ejector pin 9 is mounted on the suction plate arm frame 21 through a bracket, and the ejector pin in place detection sensor 10 is mounted on the suction plate detection ejector pin 9 bracket.

[0026] The six-axis robot 1 is provided with a robot electrical cabinet 11, the vacuum detection pressure gauge 6 signal and the ejector in-position detection sensor 10 signal are both connected to the input signal port of the robot electrical cabinet 11, the vacuum suction solenoid valve 4 is connected to the robot electrical cabinet 11, and the robot electrical cabinet 11 controls the vacuum suction solenoid valve 4 to be opened or closed through software.

[0027] Specifically, the perovskite photovoltaic substrate feeding system includes a six-axis robot 1, a plate suction arm frame 21 is installed on the sixth axis of the six-axis robot 1 through a flange, vacuum suction cups 3 are evenly distributed on the plate suction arm frame 21, a plate suction detection ejector 9 is installed on the plate suction arm frame 21, and an ejector position detection sensor 10 is installed on the ejector position detection ejector 9 bracket. The ejector position detection sensor 10 signal and the vacuum detection pressure gauge 6 signal are connected to the robot electric cabinet 11 input signal port, and the robot electric cabinet 11 controls the ON or OFF of the vacuum suction solenoid valve 4. The robot base 8 is fixed to the reinforced ground by expansion bolts, and the six-axis robot 1 is fixed to the robot base 8 by bolts.

[0028] The conveying line 12 is used to place the substrate 7 grasped by the six-axis robot 1, and the correction mechanism 13 is installed on both sides of the long side of the conveying line 12. The unloading device also includes a photoelectric sensor 15, which is installed on the conveying line 12 and is used to detect whether there is a substrate on the conveying line 12.

[0029] The unloading device also includes a conveyor line electrical cabinet 14, which is installed under the frame of the conveyor line 12, and the photoelectric sensor 15 is electrically connected to the conveyor line electrical cabinet 14; when the substrate 7 needs to be placed on the conveyor line 12, the conveyor line electrical cabinet 14 and the robot electrical cabinet 11 need to exchange signals.

[0030] The correction mechanism 13 includes a linear guide 131, a servo motor 132, a correction frame 133 and a correction wheel 134. The linear guide 131 crosses the bottom of the conveying line frame. The servo motor 132, the correction frame 133 and the correction wheel 134 are installed at both ends of the linear guide 131. The servo motor 132 moves along the linear guide 131. The correction frame 133 is connected to the servo motor 132. The correction wheels 134 are installed at both ends of the correction frame 133. When the substrate is placed on the conveying line 12, the servo motors 132 at both ends of the linear guide 131 move along the linear guide 131 at the same time, driving the correction frame 133 and the correction wheel 134 to move in the direction close to the substrate. The four correction wheels 134 are in contact with the substrate to achieve the correction of the substrate.

[0031] Specifically, the conveyor line 12 is used to place the perovskite substrate grasped by the six-axis robot 1, the correction mechanism 13 is installed on both sides of the long side of the conveyor line 12, the photoelectric sensor 15 is installed above the conveyor line 12, and is used to detect whether there is a substrate above the conveyor line 12, and the conveyor line electric cabinet 14 is installed below the frame of the conveyor line 12.

[0032] When taking the board, the six-axis robot 1 drives the board suction arm frame 21 to move to the top of the substrate, and the Z axis of the six-axis robot 1 starts to slowly descend. When the vacuum suction cup 3 is pressed down to the substrate, the board suction detection pin 9 is lifted up, and the pin in place detection sensor 10 detects the signal that the board suction detection pin 9 is lifted up, and sends the signal to the robot electric cabinet 11. At this time, the Z axis of the six-axis robot 1 stops descending, and the robot electric cabinet 11 sends a signal to control the vacuum suction solenoid valve to be ON. At this time, the vacuum generator 5 starts to work, and the vacuum suction cup 3 starts to absorb vacuum. When the vacuum detection pressure gauge 6 detects that the vacuum degree reaches the set negative pressure value, the vacuum detection pressure gauge 6 sends a signal to the robot electric cabinet 11. At this time, the six-axis robot 1 can lift the substrate 7 through the vacuum suction cup 3. After the rotation axis of the six-axis robot 1 rotates 60°, the substrate 7 is placed vertically, and the isolation pad on the substrate 7 falls off naturally.

[0033] When it is necessary to place the substrate 7 above the conveying line 12, it is necessary to perform signal interaction between the conveying line electric cabinet 14 and the robot electric cabinet 11. The process of signal interaction is that when the photoelectric sensor 15 on the conveying line 12 does not detect any material and the return mechanism 13 is in the open state, the conveying line electric cabinet 14 sends a Load Request signal to the robot electric cabinet 11, and at the same time, the robot electric cabinet 11 sends an Unload Request signal to the conveying line electric cabinet 14. When these two signals are reached, the six-axis robot 1 places the substrate 7 horizontally on the conveying line 12, and at the same time, the robot electric cabinet 11 sends an OFF signal to the vacuum solenoid valve 4. At this time, the vacuum suction cup 3 breaks the vacuum. When the six-axis robot 1 completes placing the board, the robot electric cabinet 11 sends an Unload Done signal to the conveying line electric cabinet 14. At the same time, start to take a substrate. Before taking a substrate, since the six-axis robot 1 has already taken the first substrate, the program has recorded the Z coordinate of the first substrate. After that, when taking each substrate, the program only needs to add the current Z-axis coordinate of the six-axis robot 1 to the thickness of the substrate and the height of the pad to achieve continuous and rapid board taking.

[0034] When the substrate 7 is placed on the conveyor line 12 and the conveyor line electric cabinet 14 receives the Unload Done signal, the return mechanism 13 starts the return action to return the substrate 7 to the adjusted position. After the return action is completed, the return mechanism 13 returns to open, and the conveyor line electric cabinet sends an Unload Request signal to the next process. When the Load Request signal from the next process is received, the conveyor line 12 motor starts to move and transports the substrate on the conveyor line 12 to the next process. When the conveyor line 12 is finished transporting, a cycle is completed.

[0035] When the conveying line 12 has finished conveying, it will continue to send a Load Request signal to the robot electrical cabinet 11 to start the next cycle, thus realizing automatic continuous feeding.

[0036] The utility model also discloses a working process of a perovskite substrate feeding system:

[0037] a. When the six-axis robot is taking the board, the input and output module in the robot's electrical cabinet receives the signal and controls the vacuum solenoid valve in the substrate taking arm mechanism to work. When receiving the signal that the vacuum degree has reached, the six-axis robot can lift the substrate and turn the taken substrate 180° first, and at the same time send a discharge request signal to the conveying line;

[0038] b. When there is no material on the conveyor line platform and the system is set to automatic state, the conveyor line electrical cabinet of the conveyor line sends a material request signal to the six-axis robot;

[0039] c. When the material discharging request signal sent by the six-axis robot to the conveying line and the material request signal sent by the line to the six-axis robot are simultaneously satisfied, the six-axis robot places the substrate on the conveying line and prepares to take off the next substrate;

[0040] d. Before taking a substrate, since the six-axis robot has taken the first substrate before, the program has recorded the Z coordinate of the first substrate. When taking each substrate thereafter, it is only necessary to add the thickness of the substrate and the height of the pad to the Z coordinate of the current board taken by the six-axis robot to realize continuous and rapid board taking;

[0041] e. When the substrate has been placed on the conveying line, the correction device of the conveying line corrects the substrate, and after correction, sends a discharge request signal to the next process. When the next process sends a feeding permission signal to the conveying line, the conveying line conveys the substrate out;

[0042] f. When the conveying line completes conveying the substrate, it continues to send material request signals to the robot, and at the same time closes the material discharge request signal for the next process; this cycle repeats to automatically achieve continuous loading.

[0043] The feeding control system can replace the original manual feeding process of the staff, reduce labor intensity and manpower costs, and improve production efficiency.

[0044] Compared with the prior art, the substrate loading system of the utility model can realize automatic loading for large and heavy substrates, and remove the pad in the middle of the substrate, replacing manual labor, reducing the intensity of manual labor, and at the same time can realize continuous operation, ensure safe production, and improve labor productivity.

[0045] The utility model realizes automatic handling of large and heavy substrates by means of a robot cooperating with a vacuum suction cup to pick up materials, and can calculate and locate the position of the next component through a control algorithm; realizes automatic and continuous material discharge of the robot through a signal interaction control algorithm between the robot and a material discharge assembly line; realizes safe and continuous material supply from the material discharge platform to the subsequent process through a signal interaction control algorithm between the material discharge platform and subsequent processes; and realizes zero deviation in the position of the substrate being fed to the subsequent process through a position correction and return device provided on the material discharge platform.

[0046] The utility model can realize continuous automatic feeding to the next process after loading, the loading device and the discharge device can realize signal interaction safely, and the discharge device realizes signal interaction with the subsequent process and is safely interlocked.

[0047] Those skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as above, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A perovskite substrate feeding system, comprising a feeding device and a discharging device, characterized in that: The loading device comprises a six-axis robot (1) and a substrate taking arm mechanism (2), wherein the substrate taking arm mechanism (2) is mounted on the sixth axis of the six-axis robot (1); the unloading device comprises a conveying line (12) and a correcting mechanism (13), wherein the correcting mechanism (13) is mounted on the conveying line (12) and is used to correct a substrate placed on the conveying line.

2. A perovskite substrate feeding system as claimed in claim 1, characterized in that: The substrate removal arm mechanism (2) comprises a plate suction arm frame (21) and a vacuum suction cup (3); one side of the plate suction arm frame (21) is mounted on the sixth axis of the six-axis robot (1) via a flange; and the vacuum suction cup (3) is evenly distributed on the side of the plate suction arm frame (21) opposite to the sixth axis of the six-axis robot (1).

3. A perovskite substrate feeding system as claimed in claim 2, characterized in that: The substrate removal arm mechanism (2) further comprises a vacuum generator (5) and a vacuum detection pressure gauge (6); the vacuum generator (5) is mounted on the inner side of a crossbeam of a substrate suction arm frame (21); the vacuum detection pressure gauge (6) is mounted on the substrate suction arm frame (21); the vacuum generator (5) is connected to the vacuum suction cup (3) via a grouped hose; and the air pipe of the vacuum suction cup (3) is also connected to the vacuum detection pressure gauge (6).

4. A perovskite substrate feeding system as claimed in claim 3, characterized in that: The substrate removal arm mechanism (2) further comprises a vacuum suction solenoid valve (4), which is mounted on the substrate suction arm frame (21); an outlet end of the vacuum suction solenoid valve (4) is connected to a vacuum generator (5); and whether the vacuum generator generates negative pressure suction is controlled by controlling the on / off state of the vacuum suction solenoid valve (4).

5. A perovskite substrate feeding system as claimed in claim 4, characterized in that: The substrate removal arm mechanism (2) further comprises a plate suction detection ejector pin (9) and an ejector pin in position detection sensor (10); the plate suction detection ejector pin (9) is mounted on the plate suction arm frame (21) via a bracket, and the ejector pin in position detection sensor (10) is mounted on the plate suction detection ejector pin (9) bracket.

6. A perovskite substrate feeding system as claimed in claim 5, characterized in that: The six-axis robot (1) is provided with a robot electric cabinet (11); a signal from a vacuum detection pressure gauge (6) and a signal from a push pin in position detection sensor (10) are both connected to an input signal port of the robot electric cabinet (11); a vacuum suction solenoid valve (4) is connected to the robot electric cabinet (11); and the robot electric cabinet (11) controls the vacuum suction solenoid valve (4) to be opened or closed through software.

7. A perovskite substrate feeding system according to any one of claims 2 to 6, characterized in that: The conveying assembly line (12) is used to place the substrate (7) grasped by the six-axis robot (1), and the alignment mechanism (13) is installed on both sides of the long side of the conveying assembly line (12).

8. A perovskite substrate feeding system as claimed in claim 7, characterized in that: The material discharging device further comprises a photoelectric sensor (15), which is installed on the conveying line (12) and is used to detect whether there is a substrate on the conveying line (12).

9. A perovskite substrate feeding system as claimed in claim 8, characterized in that: The unloading device further comprises a conveyor line electric cabinet (14), which is installed below the frame of the conveyor assembly line (12), and the photoelectric sensor (15) is electrically connected to the conveyor line electric cabinet (14); when the substrate (7) needs to be placed on the conveyor assembly line (12), the conveyor line electric cabinet (14) and the robot electric cabinet (11) need to perform signal interaction.

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