Flexible double-glass assembly laminating equipment with high universality

Abstract

The utility model discloses flexible double-glass assembly sheet combining equipment with high universality. The first conveying line is used for conveying a first glass assembly; the second conveying line is arranged above the first conveying line in parallel and is used for conveying a second glass assembly; the driving module is used for driving the second conveying line to be close to or far away from the first conveying line; the overturning station and the sheet combining station are sequentially arranged in the conveying direction of the first conveying line, and the carrying and sheet combining robot is arranged on the overturning station and carries materials between the second conveying line and the sheet combining station. And the first conveying line is provided with a visual detection unit for detecting materials on the laminating station. According to the utility model, the laminating efficiency can be improved, the universality is high, and the whole equipment occupies a small space.

Description

Technical Field

[0001] The utility model belongs to the technical field of photovoltaic components, and in particular relates to a flexible double-glass component assembly device with strong versatility. Background Art

[0002] Solar panels can be divided into single-glass panels and double-glass panels based on the number of glass layers. During the assembly process, double-glass panels require the first and second layers of glass to be joined together to form a double-glass panel. Since the first layer of glass consists of the base glass, EVA film, and cell module, and the second layer of glass is transparent, some panels incorporate a metal gap film on the lower surface of the second layer of glass to improve the light conversion efficiency of solar panels. Therefore, the first and second layers of glass undergo different processing before joining and are placed on different processing platforms. Therefore, the first and second layers of glass may have different front and back surfaces, and different front, back, left, and right orientations before joining. Therefore, the first or second layer of glass must be flipped or rotated before joining.

[0003] For example, a high-beat flexible double-glass component lamination device disclosed in China Patent Authorization Announcement No. CN220744586U, when the second glass is in the same direction as the first glass, the second transport mechanism can directly transport the second glass on the second conveyor line to the lamination station to be laminated with the first glass; if it is necessary to stick a gap film on the second glass, the second glass needs to be flipped so that the side with the gap film is facing down before it can be laminated with the first glass. Therefore, when flipping the second glass, it is necessary to cooperate with the external flipping mechanism to flip the front and back of the second glass 180 degrees, and then the first transport mechanism will flip the second glass. The glass is transported from the flipping station to the middle buffer station, and the second transport mechanism transports the second glass on the middle buffer station to the joining station to be joined with the first glass. There are two problems in this scheme: (1) If the front and back of the second glass need to be flipped, on the one hand, it is necessary to cooperate with the external flipping mechanism, and on the other hand, after flipping, it needs to be transported to the buffer station, and then transported from the buffer station to the joining station for joining. The joining cycle is slow and the production efficiency is low; (2) If the second glass is misaligned with the first glass in the front, back, left and right directions, the joining cannot be completed because the rotation action cannot be performed. In order to solve the above problems, China Patent Authorization Announcement No. CN220051903U discloses an automatic splicing robot and an automatic splicing system, including a robotic arm, a mounting part and multiple adsorption components; the robotic arm is connected to the mounting part, the mounting part has a mounting surface, and multiple adsorption components are all arranged on the mounting surface; the robotic arm is used to drive the mounting part to move so that the adsorption component adsorbs the photovoltaic component, and moves the photovoltaic component to the target position to fit with the corrugation, and an automatic splicing robot is used to transport the photovoltaic component to complete the splicing of the photovoltaic component and the corrugation. Since the robot is used for transportation, it can realize movement, rotation, flipping and other actions. Therefore, even if there are various situations where one glass and the second glass are misaligned, the splicing action can be completed. Although there are multiple splicing platforms in this solution, they are all arranged in the horizontal plane, occupying a large space, which is not conducive to the layout of the production line.

[0004] Therefore, it is necessary to provide a highly versatile flexible double-glass component assembly device to solve the above technical problems. Utility Model Content

[0005] The main purpose of the utility model is to provide a flexible double-glass component assembly device with strong versatility, which can improve the efficiency of assembly, has high versatility, and the entire device occupies a small space.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions: a highly versatile flexible double-glass component splicing device, which includes a first conveyor line for conveying a glass component, a second conveyor line arranged parallel to and above the first conveyor line and used for conveying two glasses, a driving module for driving the second conveyor line to approach or move away from the first conveyor line, a flipping station and a splicing station arranged in sequence along the conveying direction of the first conveyor line, and a handling and splicing robot arranged on the flipping station and transporting materials between the second conveyor line and the splicing station; the first conveyor line is provided with a visual inspection unit for detecting materials at the splicing station.

[0007] Furthermore, a plurality of supporting components for supporting the glass are provided on both the front and rear sides of the first conveyor line and the second conveyor line.

[0008] Furthermore, the second conveying line is provided with a plurality of blocking wheels at one end close to the flipping station for blocking the second glass.

[0009] Furthermore, the visual inspection unit includes a mounting frame extending from the front side to the rear side of the first conveyor line and two mounting poles which are adjustable in front and back positions and are arranged on the mounting frame. The two mounting poles are both provided with a first positioning camera for detecting the first glass component, a light-emitting panel, and a second positioning camera for detecting the second glass component from bottom to top and with adjustable up and down positions.

[0010] Furthermore, the first positioning camera and the light-emitting panel are located above the first conveyor line, and the second positioning camera is located below the first conveyor line.

[0011] Furthermore, the sheet handling robot includes a robotic arm and a gripper provided at a movable end of the robotic arm, and the gripper is provided with a plurality of adsorption parts for adsorbing materials and a plurality of sensing parts for sensing materials.

[0012] Furthermore, the driving module includes a driving member and a lifting frame driven by the driving member to move up and down, and the second conveying line is fixedly arranged at the upper end of the lifting frame.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] (1) The handling and joining robot used is a six-axis robot. Even if there is a front-to-back or left-to-right offset between the first glass component and the second glass component, or the front and back directions are opposite, the handling and joining robot can drive the gripper to move, rotate, flip, etc., so as to correct the deviation or flip the glass to achieve the joining action. It has higher versatility and can adapt to a variety of different situations. Therefore, one robot can complete the correction, handling and joining actions, and the joining cycle is fast, which can improve production efficiency and reduce production costs.

[0015] (2) The first conveyor line and the second conveyor line are arranged in two layers, one above the other, which can reduce the space occupied. When the glass needs to be flipped, the driving module can drive the second conveyor line to rise to a high position, so that there is enough height space between the second conveyor line and the first conveyor line for the robot arm to move and for the gripper to extend. When the glass does not need to be flipped, the driving module does not work and the second conveyor line is located at a low position. Therefore, the above design can not only ensure the completion of the flipping action, but also flexibly set the height of the two-layer conveyor line, reduce the height of the conveyor line as much as possible, and save space.

[0016] (3) A visual inspection unit with a simple structure is provided on the assembly station, which has precise positioning and can avoid the problem of the correction mechanism being easily damaged and reducing the positioning accuracy; and the two mounting poles are adjustable in front and back positions on the mounting frame, which can adapt to glass of different sizes; the first positioning camera, the light-emitting board and the second positioning camera are adjustable in up and down positions on the mounting poles, which can adapt to first conveyor lines of different heights. Therefore, the adaptability is higher and the versatility is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of a flexible double-glass component assembly device with high versatility according to an embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of a flexible double-glass component assembly device with high versatility according to an embodiment of the present utility model;

[0019] Figure 3 This is a schematic diagram of the three-dimensional structure of the gripper of an embodiment of the utility model;

[0020] Figure 4 This is a schematic diagram of the three-dimensional structure of the visual detection unit according to an embodiment of the present utility model;

[0021] The numbers in the figure represent:

[0022] 100-Versatile flexible double-glass module assembly equipment;

[0023] 1-the first conveyor line;

[0024] 2-second conveyor line, 21-support assembly, 22-blocking wheel;

[0025] 3-driving module, 31-driving part, 32-lifting frame; 4-flipping station; 5-joining station;

[0026] 6-handling and assembly robot, 61-robotic arm, 62-gripper, 621-adsorption part, 622-sensor part,

[0027] 7- visual inspection unit, 71- mounting frame, 72- mounting pole, 73- first positioning camera, 74- light-emitting board, 75- second positioning camera. DETAILED DESCRIPTION

[0028] Please refer to Figures 1-4 The present embodiment is a highly versatile flexible double-glass assembly lamination device. The highly versatile flexible double-glass assembly lamination device 100 includes a first conveyor line 1 for conveying one glass assembly, a second conveyor line 2 arranged parallel to and above the first conveyor line 1 and for conveying two glass assemblies, a driving module 3 for driving the second conveyor line 2 to approach or move away from the first conveyor line 1, a flipping station 4 and a lamination station 5 arranged in sequence along the conveying direction of the first conveyor line 1, and a transporting and lamination robot 6 arranged on the flipping station 4 and transporting materials between the second conveyor line 2 and the lamination station 5; the first conveyor line 1 is provided with a visual inspection unit 7 for inspecting materials at the lamination station 5.

[0029] The first conveyor line 1 and the second conveyor line 2 have the same structure and are both provided with four parallel conveyor belts. Due to the different sizes of the conveyed glass, when conveying large-sized glass, in order to ensure the smooth conveyance of large-sized glass and avoid the collapse of the front and back sides of the glass and cause position displacement, several support components 21 for supporting the glass are provided on the front and back sides of the first conveyor line 1 and the second conveyor line 2. The support component 21 includes a laterally extending or vertically extending support rod and a support roller arranged on the support plate.

[0030] The second conveyor line 2 does not extend to the flipping station 4 and the glass joining station 5 . The second conveyor line 2 is provided with a plurality of blocking wheels 22 at one end close to the flipping station 4 for blocking the second glass.

[0031] In this solution, there is no need to set a blocking mechanism and a correcting mechanism on the first conveyor line 1. Instead, a visual inspection unit 7 with a simple structure is set. The visual inspection unit 7 includes a mounting frame 71 extending from the front side to the rear side of the first conveyor line 1 and two mounting vertical rods 72 which are adjustable in front and back positions and are arranged on the mounting frame 71. The two mounting vertical rods 72 are both provided with a first positioning camera 73 for detecting the first glass component, a light-emitting panel 74 and a second positioning camera 75 for detecting the second glass component from bottom to top and with adjustable up and down positions; the first positioning camera 73 and the light-emitting panel 74 are located above the first conveyor line 1, and the second positioning camera 75 is located below the first conveyor line 1.

[0032] The two mounting poles 72 are adjustable in front and back positions on the mounting frame 71 in order to adapt to glass of different sizes; the first positioning camera 73, the light-emitting panel 74 and the second positioning camera 75 are adjustable in up and down positions on the mounting poles 72 in order to adapt to first conveyor lines 1 of different heights, thus having a higher adaptability and good versatility. The two mounting poles 72, the first positioning camera 73, the light-emitting panel 74 and the second positioning camera 75 can be set up in a slider rail manner and locked with screws. When the position needs to be adjusted, the screws are loosened and then locked again after the position is adjusted. The two mounting poles 72, the first positioning camera 73, the light-emitting panel 74 and the second positioning camera 75 can be set up in a slider rail manner and automatically adjusted in position with the servo motor drive, so that when the position needs to be adjusted, a one-button switch can be used in the control system.

[0033] When positioning the first glass component and the second glass component, the first positioning camera 73 below the first conveyor line 1 visually locates the position of the first glass component by taking pictures of the corners of the first glass component, and transmits the positioning information of the first glass component to the transport and assembly robot 6. The transport and assembly robot 6 first transports the second glass component to the space between the second positioning camera 75 and the light-emitting board 74, and visually locates the position of the second glass component by taking pictures of the corners at the front and back ends of the second glass component. After comparing the positioning information of the first glass component and the second glass component, the transport and assembly robot 6 corrects the position of the second glass component, and then the transport and assembly robot 6 accurately places the second glass component on the first glass component to complete the assembly. Therefore, the visual inspection unit 7 is not only simple in structure, but also has precise positioning, which can avoid the problem of the correction mechanism being easily damaged and reducing the positioning accuracy.

[0034] The sheet handling robot 6 comprises a robotic arm 61 and a gripper 62 at its movable end. The gripper 62 is equipped with several suction elements 621 for adsorbing materials and several sensing elements 622 for sensing materials. In this embodiment, the suction elements 621 are suction cups connected to an external vacuum pump to absorb materials through vacuum, while the sensing elements 622 are sensing probes. When the sheet handling robot 6 is positioned above the second conveyor line 2, the sensing elements 622 sense contact with the second glass, triggering a vacuum pump to apply vacuum, and the suction elements 621 vacuum-adsorb the second glass. Because the sheet handling robot 6 is a six-axis robot, the robotic arm 61 can drive the gripper 62 to perform various movements, including movement, rotation, and flipping.

[0035] If the two glasses are in the same direction as the first glass component or are offset in the front, back, left and right directions, the transporting and joining robot 6 will transport the two glasses to the joining station or rotate the two glasses and then transport them to the joining station to complete the joining operation; but when the two glasses need to be flipped, the robotic arm 61 needs to drive the gripper 62 to extend under the second conveyor line 2 to adsorb the two glasses. Therefore, there needs to be sufficient height space between the second conveyor line 2 and the first conveyor line 1 for the robotic arm 61 to move and for the gripper 62 to extend. If the second conveyor line 2 is set at a high position, it will take up a large space. If it is set at a low position, the flipping operation cannot be completed. In order to solve this problem, a driving module 3 is provided to drive the second conveyor line 2 to move up and down. The driving module 3 works when the gripper 62 needs to extend under the second conveyor line 2, driving the second conveyor line 2 to rise to a high position. In other cases, the driving module 3 does not work and the second conveyor line is in a low position. The driving module 3 includes a driving member 31 and a lifting frame 32 driven by the driving member 31 to move up and down, and the second conveyor line 2 is fixedly arranged on the upper end of the lifting frame 32. The driving member 31 can be a cylinder or a motor, which is not limited here.

[0036] When the flexible double-glass component splicing equipment 100 with high versatility provided by the present invention is applied, a glass component is conveyed to the splicing station via the first conveyor line 1, and the first positioning camera 73 visually locates the position of the glass component by photographing the corners of the first glass component, and transmits the positioning information of the glass component to the handling and splicing robot 6, while the blocking wheel 22 of the second conveyor line 2 blocks the second glass. If the second glass is opposite to the front and back of the first glass component, the robotic arm 61 drives the gripper 62 to move to the bottom of the second glass, and the gripper 62 extends from between the lifting frame 32 and the second conveyor line 2 to the bottom of the second glass. After adsorbing the second glass, the robotic arm 61 rotates the second glass 180° around the horizontal axis, so that the second glass is flipped over on the front and back, and then moves to the top of the splicing station 5 and is located within the photographing range between the second positioning camera 75 and the light-emitting board 74. The second positioning camera 75 takes pictures of the front and rear corners of the second glass to visually locate the position of the second glass. The transport and assembly robot 6 compares the positioning information of the first glass component with the second glass, corrects the position of the second glass, and then the transport and assembly robot 6 places the second glass accurately on the first glass component to complete the assembly. If the direction of the second glass and the first glass component is offset front, back, left, or right, the robotic arm 61 drives the gripper 62 to move to the top of the second glass, directly adsorbs the second glass, rotates it around the vertical axis at a certain angle, and moves it to the top of the assembly station 5. The subsequent photography positioning and assembly actions are the same as above. If the direction of the second glass and the first glass component is the same, the robotic arm 61 drives the gripper 62 to move to the top of the second glass, directly adsorbs the second glass and moves it to the top of the assembly station 5. The subsequent photography positioning and assembly actions are the same as above.

[0037] The above descriptions 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, and these all fall within the scope of protection of the present invention.

Claims

1. A highly versatile flexible double-glass module assembly device, characterized by: It includes a first conveyor line for conveying a glass assembly, a second conveyor line arranged parallel to and above the first conveyor line and used for conveying two layers of glass, a driving module for driving the second conveyor line to approach or move away from the first conveyor line, a flipping station and a splicing station arranged in sequence along the conveying direction of the first conveyor line, and a transporting and splicing robot arranged on the flipping station and transporting materials between the second conveyor line and the splicing station; the first conveyor line is provided with a visual inspection unit for detecting materials at the splicing station.

2. The highly versatile flexible double-glass module assembly device according to claim 1, characterized in that: A plurality of supporting components for supporting glass are provided on both the front and rear sides of the first conveying line and the second conveying line.

3. The highly versatile flexible double-glass module assembly device according to claim 1, characterized in that: The second conveying line is provided with a plurality of blocking wheels at one end close to the flipping station for blocking the second glass.

4. The highly versatile flexible double-glass module assembly device according to claim 1, characterized in that: The visual inspection unit includes a mounting frame extending from the front side to the rear side of the first conveyor line and two mounting poles arranged on the mounting frame with adjustable front and rear positions. The two mounting poles are both provided with a first positioning camera for detecting the first glass component, a light-emitting panel, and a second positioning camera for detecting the second glass component from bottom to top and with adjustable upper and lower positions.

5. The highly versatile flexible double-glass module assembly device according to claim 4, characterized in that: The first positioning camera and the light-emitting board are located above the first conveying line, and the second positioning camera is located below the first conveying line.

6. The highly versatile flexible double-glass module assembly device according to claim 1, characterized in that: The sheet handling and assembly robot comprises a mechanical arm and a gripper provided at a movable end of the mechanical arm, wherein the gripper is provided with a plurality of adsorption parts for adsorbing materials and a plurality of induction parts for inducing materials.

7. The highly versatile flexible double-glass module assembly device according to claim 1, characterized in that: The driving module includes a driving member and a lifting frame driven by the driving member to move up and down, and the second conveying line is fixedly arranged on the upper end of the lifting frame.

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