Robot typesetting machine

Abstract

The utility model relates to the technical field of photovoltaic module production equipment, and particularly discloses a robot typesetting machine which comprises a robot and a rack, the robot is installed on the rack, a battery piece grabbing mechanism is installed at the execution end of the robot, the battery piece grabbing mechanism is provided with a battery piece suction cup, and the battery piece suction cup adsorbs battery pieces; the battery piece conveying mechanism is installed above the photovoltaic module conveying mechanism, the battery piece conveying mechanism is provided with a battery piece conveying belt, battery pieces are conveyed on the battery piece conveying belt, photovoltaic modules are conveyed on the feeding conveying belt, and the photovoltaic modules are transferred to the photovoltaic module positioning mechanism through the transferring conveying belt. The catch wheel positioning structures are distributed and installed on the periphery of the positioning conveying belt, the photovoltaic module is conveyed on the positioning conveying belt, and the catch wheel positioning structures position and clamp the four edges of the photovoltaic module; according to the utility model, the consistency of battery pieces taken by a robot is higher, the precision of placing the battery pieces is higher, the production efficiency is greatly improved, more labor is saved, and the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of photovoltaic module production equipment, and particularly relates to a robot typesetter. Background Art

[0002] The layout of photovoltaic module cells refers to the process of assembling solar cells into photovoltaic modules according to a certain design layout and electrical connection method. This process is crucial for ensuring the photoelectric conversion efficiency, mechanical strength, and aesthetics of photovoltaic modules. In the cell layout work, it is necessary to ensure the accurate size and spacing of the cells to avoid electrical connection problems caused by errors. Quality inspections should be carried out at each step to ensure the reliability and consistency of the modules. According to the usage environment of the modules, appropriate materials and designs should be selected to ensure that the modules can adapt to various climate conditions. Through a carefully designed and strictly controlled layout process, it is possible to ensure that photovoltaic modules have high photoelectric conversion performance, reliable mechanical strength, and a long service life.

[0003] With the increasing demand for renewable energy, the photovoltaic industry has developed rapidly. The production efficiency and cost control of photovoltaic modules have become the focus of the industry. Traditional photovoltaic module production processes often rely on manual operations, which are inefficient and prone to human errors. With the development of industrial automation technology, robot technology has been widely applied in various manufacturing fields. The automated layout of photovoltaic equipment is an important means to improve production efficiency.

[0004] Currently, the layout of cells on photovoltaic modules is manually operated. The manual placement has low efficiency and high labor intensity. Some production lines use robots for automatic cell layout. The existing robot automatic placement operations have the following problems: The position of the cells cannot be effectively controlled or recognized during the conveying process, the cells are not neatly placed, resulting in inconsistent cell grasping by the robot, and there are layout errors when placing the cells on the photovoltaic module, and the cell layout accuracy is poor. Using one robot to pick up materials also results in low cell layout efficiency. Therefore, there is an urgent need to design a robot typesetter to solve the problems of poor accuracy and low working efficiency of the existing robots in placing cells. Summary of the Utility Model

[0005] Aiming at the problems existing in the prior art, the purpose of the utility model is to provide a robot typesetter.

[0006] The technical solution adopted by the utility model to solve its technical problems is: A robot typesetter includes a robot and a frame. The robot is installed on the frame, and a cell grasping mechanism is installed at the execution end of the robot. The cell grasping mechanism is provided with cell suction cups, and the cell suction cups adsorb the cells.

[0007] A photovoltaic module conveying mechanism, a photovoltaic module positioning mechanism, and a cell conveying mechanism are installed on the frame. The cell conveying mechanism is installed above the photovoltaic module conveying mechanism. The cell conveying mechanism is provided with a cell conveyor belt, and cells are conveyed on the cell conveyor belt. The photovoltaic module conveying mechanism is provided with a loading conveyor belt and a transfer conveyor belt. Photovoltaic modules are conveyed on the loading conveyor belt, and the transfer conveyor belt transfers the photovoltaic modules to the photovoltaic module positioning mechanism. The photovoltaic module positioning mechanism is provided with a positioning conveyor belt and a retaining wheel positioning structure. The retaining wheel positioning structures are distributed and installed around the positioning conveyor belt. Photovoltaic modules are conveyed on the positioning conveyor belt, and the retaining wheel positioning structures position and clamp the four sides of the photovoltaic modules.

[0008] Specifically, the robot includes Robot One and Robot Two. A set of cell gripping mechanisms are installed at the execution ends of Robot One and Robot Two respectively. The bases of Robot One and Robot Two are both installed on the robot mounting base, and the robot mounting base is fixed on the frame.

[0009] Specifically, the cell suction cup is installed on the bracket. The upper pipeline of the cell suction cup is connected to a vacuum pumping device. A connecting seat is installed in the middle of the bracket, and the connecting seat is connected to the execution end of the robot by bolts.

[0010] Specifically, there are two sets of cell conveying mechanisms, which respectively correspond to Robot One or Robot Two. The cell conveying mechanisms are also provided with two sets of cell driving wheels and cell driven wheels. The cell driving wheels and cell driven wheels are both rotatably installed on the frame. A cell conveyor belt is connected between the same set of cell driving wheels and cell driven wheels. A cell transmission shaft is connected between the cell driving wheels. The end of the cell transmission shaft is connected to the motor shaft of the cell motor. The cell motor drives the cell conveyor belts to run synchronously at the same time. A transition plate is installed in the gap between the driven wheels. The transition plate is installed at the feeding end, and the cells for loading are placed on the transition plate.

[0011] Specifically, a shooting and positioning mechanism is provided above the cell conveying mechanism. The shooting and positioning mechanism is provided with a camera, a camera mounting plate, and a camera bracket. The camera is mounted on the camera mounting plate, the camera mounting plate is fixed to the camera bracket, and the camera bracket is mounted on the frame. The camera identifies the positions of the cells on the cell conveyor belt.

[0012] Specifically, the photovoltaic module conveying mechanism is also provided with loading driving wheels and loading driven wheels. There are two sets of loading driving wheels and loading driven wheels respectively. The loading driving wheels and loading driven wheels are both rotatably installed on the frame. A loading conveyor belt is connected between the same set of loading driving wheels and loading driven wheels. A loading transmission shaft is connected between the loading driving wheels. One end of the loading transmission shaft is connected to the motor shaft of the loading motor. The loading motor drives the loading conveyor belt to rotate synchronously at the same time to convey the photovoltaic modules.

[0013] Specifically, the photovoltaic module conveying mechanism is further provided with a transfer driving wheel and a transfer driven wheel. The transfer driving wheel and the transfer driven wheel are both rotatably installed on the frame. A transfer conveyor belt is connected between the transfer driving wheel and the transfer driven wheel. The transfer conveyor belt is arranged between the two loading conveyor belts and at the same height. The running direction of the transfer conveyor belt is perpendicular to that of the loading conveyor belts, and the running direction of the transfer conveyor belt is the same as that of the positioning conveyor belt. A transfer transmission shaft is connected between the transfer driving wheels. One end of the transfer transmission shaft is connected to the motor shaft of the transfer motor. The transfer motor drives the transfer conveyor belt to rotate synchronously to convey the photovoltaic module to the positioning conveyor belt at the same time.

[0014] Specifically, the photovoltaic module positioning mechanism is further provided with a positioning driving wheel and a positioning driven wheel. The positioning driving wheel and the positioning driven wheel are both rotatably installed on the frame. A positioning conveyor belt is connected between the same group of positioning driving wheel and the positioning driven wheel. A positioning transmission shaft is connected between the positioning driving wheels. One end of the positioning transmission shaft is connected to the motor shaft of the conveying motor. The conveying motor drives the positioning conveyor belt to rotate synchronously to convey the photovoltaic module.

[0015] Specifically, the stop wheel positioning structure is provided with a stop wheel, a stop wheel cylinder, a moving frame, a slide rail, a lead screw and a positioning motor. The stop wheel is installed on the rod of the stop wheel cylinder. The stop wheel cylinder is installed on the moving frame. A slide seat is arranged at the bottom of the moving frame. The slide seat is slidably connected to the slide rail. The slide rail is fixedly installed on the frame. A nut seat is installed in the middle of the moving frame. The nut seat is threadedly connected to the lead screw. The lead screw is rotatably installed on the frame through two bearing seats. One end of the lead screw is connected to the motor shaft of the positioning motor. The positioning motor controls the movement of the moving frame and the stop wheel by rotating the lead screw. The stop wheel abuts against the side of the photovoltaic module for positioning.

[0016] The utility model has the following beneficial effects:

[0017] The robot typesetting machine designed by the utility model uses a camera to identify the conveying position of the battery chip and positions the photovoltaic module through the stop wheel positioning structure. The robot has higher consistency in picking the battery chip and higher precision in placing the battery chip.

[0018] The robot typesetting machine designed by the utility model uses two robots and two groups of battery chip conveying mechanisms to work simultaneously. Two groups of battery chip typesetting work are carried out on one frame at the same time, which greatly improves the production efficiency, saves more labor and reduces the cost. Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of the robot typesetting machine Figure 1 。

[0020] Figure 2 is the overall structural schematic diagram of the robot typesetting machine Figure 2 。

[0021] Figure 3It is the front view of the robotic typesetting machine.

[0022] Figure 4 It is the schematic structural diagram of the cell grabbing mechanism.

[0023] Figure 5 It is Figure 4 the top view of.

[0024] Figure 6 It is the schematic structural diagram of the photovoltaic module conveying mechanism.

[0025] Figure 7 It is the schematic structural diagram of the photovoltaic module positioning mechanism.

[0026] Figure 8 It is the schematic structural diagram of the cell conveying mechanism.

[0027] Figure 9 It is the schematic structural diagram of the shooting and positioning mechanism.

[0028] In the figure: 1 - cell grabbing mechanism, 1.1 - cell suction cup, 1.2 - bracket, 1.3 - connecting seat;

[0029] 2 - photovoltaic module conveying mechanism, 2.1 - feeding conveyor belt, 2.2 - feeding driving wheel, 2.3 - feeding driven wheel, 2.4 - feeding transmission shaft, 2.5 - feeding motor, 2.6 - transfer conveyor belt, 2.7 - transfer driving wheel, 2.8 - transfer driven wheel, 2.9 - transfer transmission shaft, 2.10 - transfer motor;

[0030] 3 - photovoltaic module positioning mechanism, 3.1 - positioning conveyor belt, 3.2 - positioning driving wheel, 3.3 - positioning driven wheel, 3.4 - positioning transmission shaft, 3.5 - conveying motor, 3.6 - retaining wheel, 3.7 - retaining wheel cylinder, 3.8 - moving frame, 3.9 - slide rail, 3.10 - lead screw, 3.11 - positioning motor;

[0031] 4 - cell conveying mechanism, 4.1 - cell conveyor belt, 4.2 - cell transmission shaft, 4.3 - cell motor, 4.4 - transition plate;

[0032] 5 - shooting and positioning mechanism, 5.1 - camera, 5.2 - camera mounting plate, 5.3 - camera bracket;

[0033] 6 - Robot 1; 7 - Robot 2; 8 - frame; 9 - robot mounting seat. Detailed implementation mode

[0034] The following will further describe in detail the technical solutions in the embodiments of the present utility model in a clear and complete manner in conjunction with the accompanying drawings in the embodiments of the present utility model. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present utility model.

[0035] As Figures 1 - 9 shown, a robot typesetting machine includes a robot and a frame 8. The robot is installed on the frame 8. The robot uses a Robostar six-axis robot. The robot includes a robot one 6 and a robot two 7. A set of solar cell gripping mechanisms 1 are installed at the execution ends of the robot one 6 and the robot two 7 respectively. The bases of the robot one 6 and the robot two 7 are both installed on a robot mounting seat 9, and the robot mounting seat 9 is fixed on the frame 8.

[0036] The solar cell gripping mechanism 1 is provided with a solar cell suction cup 1.1, a bracket 1.2 and a connecting seat 1.3. The solar cell suction cup 1.1 is installed on the bracket 1.2. The upper part of the solar cell suction cup 1.1 is connected to a vacuum pumping device through a pipeline. The connecting seat 1.3 is installed in the middle of the bracket 1.2. The connecting seat 1.3 is connected to the execution end of the robot by bolts. The solar cell suction cup 1.1 adsorbs the solar cell 10 and places it on the photovoltaic module.

[0037] A photovoltaic module conveying mechanism 2, a photovoltaic module positioning mechanism 3, a solar cell conveying mechanism 4 and a photographing and positioning mechanism 5 are installed on the frame 8. The solar cell conveying mechanism 4 is installed above the photovoltaic module conveying mechanism 2. There are two sets corresponding to the positions of the robot one 6 and the robot two 7. The solar cell conveying mechanism 4 is provided with two sets of solar cell conveyor belts 4.1, two sets of solar cell driving wheels and solar cell driven wheels. The solar cell conveyor belt 4.1 conveys the solar cell 10. The solar cell driving wheels and the solar cell driven wheels are both rotatably installed on the frame 8. The solar cell conveyor belt 4.1 is connected between the same group of solar cell driving wheels and solar cell driven wheels. The solar cell driving wheels are connected by a solar cell transmission shaft 4.2. The end of the solar cell transmission shaft 4.2 is connected to the motor shaft of a solar cell motor 4.3. The solar cell motor 4.3 drives the solar cell conveyor belts 4.1 to run synchronously at the same time. A transition plate 4.4 is installed in the gap between the driven wheels. The transition plate 4.4 is installed at the feeding end. The incoming solar cell 10 is placed on the transition plate 4.4.

[0038] The photovoltaic module conveying mechanism 2 is provided with a loading conveyor belt 2.1 and a transfer conveyor belt 2.6. Photovoltaic modules are conveyed on the loading conveyor belt 2.1, and the transfer conveyor belt 2.6 conveys the photovoltaic modules to the positioning conveyor belt 3.1. The photovoltaic module conveying mechanism 2 is also provided with a loading driving wheel 2.2 and a loading driven wheel 2.3. There are two sets of loading driving wheels 2.2 and loading driven wheels 2.3 respectively. The loading driving wheels 2.2 and the loading driven wheels 2.3 are both rotatably installed on the frame 8. The loading conveyor belt 2.1 is connected between the same set of loading driving wheel 2.2 and loading driven wheel 2.3. The loading driving wheels 2.2 are connected by a loading transmission shaft 2.4. One end of the loading transmission shaft 2.4 is connected to the motor shaft of the loading motor 2.5. The loading motor 2.5 drives the loading conveyor belt 2.1 to rotate synchronously to convey the photovoltaic modules at the same time.

[0039] The photovoltaic module conveying mechanism 2 is also provided with a transfer driving wheel 2.7 and a transfer driven wheel 2.8. The transfer driving wheel 2.7 and the transfer driven wheel 2.8 are both rotatably installed on the frame 8. The transfer conveyor belt 2.6 is connected between the transfer driving wheel 2.7 and the transfer driven wheel 2.8. The transfer conveyor belt 2.6 is arranged between the two loading conveyor belts 2.1 and at the same height. The running direction of the transfer conveyor belt 2.6 is perpendicular to that of the loading conveyor belt 2.1, and the running direction of the transfer conveyor belt 2.6 is the same as that of the positioning conveyor belt 3.1. When loading, the loading conveyor belt 2.1 runs and the transfer conveyor belt 2.6 stops working. When transferring the photovoltaic modules to the positioning conveyor belt 3.1, the loading conveyor belt 2.1 stops working and the transfer conveyor belt 2.6 runs. The transfer driving wheels 2.7 are connected by a transfer transmission shaft 2.9. One end of the transfer transmission shaft 2.9 is connected to the motor shaft of the transfer motor 2.10. The transfer motor 2.10 drives the transfer conveyor belt 2.6 to rotate synchronously to convey the photovoltaic modules to the positioning conveyor belt 3.1.

[0040] The photovoltaic module positioning mechanism 3 is provided with a positioning conveyor belt 3.1 and a stop wheel positioning structure. The stop wheel positioning structures are distributed and installed around the positioning conveyor belt 3.1. Photovoltaic modules are conveyed on the positioning conveyor belt 3.1, and the stop wheel positioning structures position and clamp the four sides of the photovoltaic modules.

[0041] The photovoltaic module positioning mechanism 3 is also provided with a positioning driving wheel 3.2 and a positioning driven wheel 3.3. The positioning driving wheel 3.2 and the positioning driven wheel 3.3 are both rotatably installed on the frame 8. The positioning conveyor belt 3.1 is connected between the same set of positioning driving wheel 3.2 and positioning driven wheel 3.3. The positioning driving wheels 3.2 are connected by a positioning transmission shaft 3.4. One end of the positioning transmission shaft 3.4 is connected to the motor shaft of the conveying motor 3.5. The conveying motor 3.5 drives the positioning conveyor belt 3.1 to rotate synchronously to convey the photovoltaic modules.

[0042] The wheel stop positioning structure is provided with a wheel stop 3.6, a wheel stop cylinder 3.7, a moving frame 3.8, a slide rail 3.9, a lead screw 3.10 and a positioning motor 3.11. There are two sets of wheel stops 3.6 and wheel stop cylinders 3.7 on each side. The wheel stop 3.6 is installed on the rod of the wheel stop cylinder 3.7. The wheel stop cylinders 3.7 on both sides of the positioning conveyor belt 3.1 are installed in parallel. The wheel stop cylinder 3.7 controls the parallel movement of the wheel stop 3.6, and the height of the wheel stop 3.6 is higher than that of the positioning conveyor belt 3.1. The wheel stop cylinders 3.7 are installed vertically on the front and back sides in the running direction of the positioning conveyor belt 3.1, and the wheel stop cylinder 3.7 controls the lifting movement of the wheel stop 3.6, and the height of the wheel stop 3.6 is lower than that of the positioning conveyor belt 3.1.

[0043] The wheel stop cylinder 3.7 is installed on the moving frame 3.8. The bottom of the moving frame 3.8 is provided with a sliding seat, and the sliding seat is slidably connected to the slide rail 3.9. The slide rail 3.9 is fixedly installed on the frame 8. A nut seat is installed in the middle of the moving frame 3.8, and the nut seat is threadedly connected to the lead screw 3.10. The lead screw 3.10 is rotatably installed on the frame 8 through two bearing seats. One end of the lead screw 3.10 is connected to the motor shaft of the positioning motor 3.11. The positioning motor 3.11 controls the movement of the moving frame 3.8 and the wheel stop 3.6 through the rotation of the lead screw 3.10. The wheel stop 3.6 abuts against the side of the photovoltaic module for positioning.

[0044] Above the battery sheet conveying mechanism 4, a photographing and positioning mechanism 5 is provided. The photographing and positioning mechanism 5 is provided with a camera 5.1, a camera mounting plate 5.2 and a camera bracket 5.3. The camera 5.1 is installed on the camera mounting plate 5.2, the camera mounting plate 5.2 is fixed to the camera bracket 5.3, and the camera bracket 5.3 is installed on the frame 8. The camera 5.1 identifies the position of the battery sheet 10 on the battery sheet conveyor belt 4.1.

[0045] The working principle of the present utility model:

[0046] The photovoltaic module is transported to the working position through the photovoltaic module conveying mechanism 2 below the camera 5.1. At the same time, the small battery sheet conveying mechanism 4 below the battery sheet 10 will transport the battery sheet 10 to below the camera 5.1. The camera 5.1 takes a picture and positions the battery sheet 10 below, and then transmits the relative position of the battery sheet 10 to the robot. The robot will grasp the battery sheet 10 according to the position. After the robot grasps the battery sheet 10, it will correct the deviation of the battery sheet 10 according to the set position when placing the battery sheet 10 on the photovoltaic module, so as to ensure the accurate placement position of the battery sheet 10.

[0047] The robot typesetter has the ability of automatic typesetting, can perform intelligent layout according to the size and shape of the photovoltaic panel, and improves the typesetting efficiency and accuracy; the positioning and photographing of the camera 5.1 increases the accuracy of the placement of the battery sheet. Two robots are used to grasp and place the battery sheet 10, which greatly improves the working efficiency.

[0048] 1. Improve production efficiency: The robotic layout machine in photovoltaics can effectively improve production efficiency. By using the robotic layout machine, the automatic arrangement of solar cells 10 is achieved, reducing the time and cost of manual operations. The robotic layout machine can accurately arrange the solar cells 10 according to the design requirements, improving the accuracy and efficiency of layout. In addition, the robotic layout machine can significantly shorten the production cycle, improve production efficiency and output, thereby reducing the production cost of photovoltaic products. Therefore, the robotic layout machine in photovoltaics plays a very important role in improving production efficiency.

[0049] 2. Reduce labor costs: Using a robotic layout machine for the automatic arrangement of solar cells 10 reduces the dependence on manual operations. The emergence of the robotic layout machine can effectively reduce labor costs. Traditional layout work requires a large amount of human input and there are certain safety risks during the operation process. While the robotic layout machine can automatically complete the layout work, reducing the dependence on manual labor and lowering the labor cost.

[0050] 3. Reduce the scrap rate and costs:

[0051] First, the robotic layout machine accurately arranges the solar cells 10 to ensure that the spacing and positions between them meet the requirements. This can reduce the possibility of component damage or scrap caused by inaccurate layout, thereby reducing the scrap rate. Second, using the robotic layout machine can replace manual layout, reducing the cost of manual operations. The robot can work continuously for 24 hours, without the need for rest and without getting tired, thus improving production efficiency and reducing layout costs.

[0052] 4. Improve product quality and consistency: The robotic layout machine helps improve the production quality and consistency of photovoltaic products. Through automated layout technology, it can ensure that the arrangement and layout of the solar cells 10 meet the standard requirements, reducing human errors and variations, thereby improving the quality and consistency of the products.

[0053] 5. Save energy and material costs: The robotic layout machine can accurately arrange and optimize according to the size and shape of the solar cells 10, minimizing material waste to the greatest extent. Through automated technology, the robot quickly completes the layout task, reducing manual intervention and errors, improving production efficiency, and thus reducing energy consumption.

[0054] The utility model is not limited to the above embodiments. Anyone should know that structural changes made under the inspiration of the utility model, as long as they have the same or similar technical solutions as the utility model, fall within the protection scope of the utility model.

[0055] The technologies, shapes, and structures not described in detail in the utility model are all well-known technologies.

[0056] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device.

[0057] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robotic typesetting machine, characterized in that, It includes a robot and a frame. The robot is installed on the frame, and a cell gripping mechanism is installed at the execution end of the robot. The cell gripping mechanism is provided with cell suction cups, and the cell suction cups adsorb cells. A photovoltaic module conveying mechanism, a photovoltaic module positioning mechanism, and a cell conveying mechanism are installed on the frame. The cell conveying mechanism is installed above the photovoltaic module conveying mechanism. The cell conveying mechanism is provided with a cell conveyor belt, and cells are conveyed on the cell conveyor belt. The photovoltaic module conveying mechanism is provided with a loading conveyor belt and a transfer conveyor belt. Photovoltaic modules are conveyed on the loading conveyor belt, and the transfer conveyor belt transfers the photovoltaic modules to the photovoltaic module positioning mechanism. The photovoltaic module positioning mechanism is provided with a positioning conveyor belt and a retaining wheel positioning structure. The retaining wheel positioning structures are distributed and installed around the positioning conveyor belt. Photovoltaic modules are conveyed on the positioning conveyor belt, and the retaining wheel positioning structures position and clamp the four sides of the photovoltaic modules.

2. The robotic typesetting machine according to claim 1, wherein, The robot includes Robot 1 and Robot 2. A set of cell gripping mechanisms are installed at the execution ends of Robot 1 and Robot 2 respectively. The bases of Robot 1 and Robot 2 are both installed on the robot mounting base, and the robot mounting base is fixed on the frame.

3. The robot typesetting machine according to claim 2, wherein, The cell suction cups are installed on the brackets. The upper pipelines of the cell suction cups are connected to a vacuum pumping device. A connecting seat is installed in the middle of the bracket, and the connecting seat is connected to the execution end of the robot by bolts.

4. The robotic typesetting machine according to claim 2, wherein There are two sets of cell conveying mechanisms, which respectively correspond to Robot 1 or Robot 2. The cell conveying mechanism is also provided with two sets of cell driving wheels and cell driven wheels. The cell driving wheels and cell driven wheels are both rotatably installed on the frame. The cell conveyor belt is connected between the same set of cell driving wheels and cell driven wheels. The cell driving wheels are connected by a cell transmission shaft, and the end of the cell transmission shaft is connected to the motor shaft of the cell motor. The cell motor drives the cell conveyor belts to run synchronously at the same time. A transition plate is installed in the gap between the driven wheels. The transition plate is installed at the feeding end, and the incoming cells are placed on the transition plate.

5. The robot typesetting machine according to claim 4, characterized in that, A shooting and positioning mechanism is provided above the cell conveying mechanism. The shooting and positioning mechanism is provided with a camera, a camera mounting plate, and a camera bracket. The camera is mounted on the camera mounting plate, the camera mounting plate is fixed to the camera bracket, and the camera bracket is mounted on the frame. The camera identifies the position of the cells on the cell conveyor belt.

6. The robot typesetting machine according to claim 1, characterized in that, The photovoltaic module conveying mechanism is also provided with two sets of loading driving wheels and loading driven wheels. The loading driving wheels and loading driven wheels are both rotatably installed on the frame. The loading conveyor belt is connected between the same set of loading driving wheels and loading driven wheels. The loading driving wheels are connected by a loading transmission shaft, and one end of the loading transmission shaft is connected to the motor shaft of the loading motor. The loading motor drives the loading conveyor belt to rotate synchronously at the same time to convey photovoltaic modules.

7. The robot typesetting machine according to claim 6, characterized in that, The photovoltaic module conveying mechanism is further provided with a transfer driving wheel and a transfer driven wheel. Both the transfer driving wheel and the transfer driven wheel are rotatably installed on the frame. A transfer conveyor belt is connected between the transfer driving wheel and the transfer driven wheel. The transfer conveyor belt is arranged between two feeding conveyor belts and at the same height. The running direction of the transfer conveyor belt is perpendicular to that of the feeding conveyor belts, and the running direction of the transfer conveyor belt is the same as that of the positioning conveyor belt. A transfer transmission shaft is connected between the transfer driving wheels. One end of the transfer transmission shaft is connected to the motor shaft of the transfer motor. The transfer motor drives the transfer conveyor belt to rotate synchronously at the same time to convey the photovoltaic module onto the positioning conveyor belt.

8. The robot typesetting machine according to claim 1, wherein, The photovoltaic module positioning mechanism is further provided with a positioning driving wheel and a positioning driven wheel. Both the positioning driving wheel and the positioning driven wheel are rotatably installed on the frame. A positioning conveyor belt is connected between the same group of positioning driving wheel and the positioning driven wheel. A positioning transmission shaft is connected between the positioning driving wheels. One end of the positioning transmission shaft is connected to the motor shaft of the conveying motor. The conveying motor drives the positioning conveyor belt to rotate synchronously at the same time to convey the photovoltaic module.

9. The robot typesetting machine according to claim 1, wherein, The wheel stop positioning structure is provided with a wheel stop, a wheel stop cylinder, a moving frame, a slide rail, a lead screw and a positioning motor. The wheel stop is installed on the cylinder rod of the wheel stop cylinder. The wheel stop cylinder is installed on the moving frame. A slide seat is arranged at the bottom of the moving frame. The slide seat is slidably connected to the slide rail. The slide rail is fixedly installed on the frame. A nut seat is installed in the middle of the moving frame. The nut seat is threadedly connected to the lead screw. The lead screw is rotatably installed on the frame through two bearing seats. One end of the lead screw is connected to the motor shaft of the positioning motor. The positioning motor controls the movement of the moving frame and the wheel stop by rotating the lead screw. The wheel stop abuts against the side of the photovoltaic module for positioning.

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