Module post-processing system

Abstract

The embodiment of the utility model discloses a module post-processing system which comprises a robot, a feeding device, a temporary storage frame and a post-processing device. The feeding device is provided with a module feeding position, the temporary storage frame is provided with a plurality of module temporary placing positions, and the module feeding position and the module temporary placing positions fall within the moving range of the gripper; the post-processing device comprises a cleaning mechanism and a detection mechanism, and the gripper can move to the working range of the cleaning mechanism and the detection mechanism; the gripper grabs the module located at the module feeding position, and the module is placed at the module temporary placing position after being processed by the cleaning mechanism and / or the detecting mechanism. According to the scheme, post-processing procedures after the module is assembled can be integrated, and therefore the production efficiency can be improved conveniently.

Description

Technical Field

[0001] The present application relates to the field of module processing technology, and in particular to a module post-processing system. Background Art

[0002] After module assembly is complete, it typically undergoes cleaning, testing, and other processing before being released from the production line to the next step. However, current equipment for cleaning and testing assembled modules is typically deployed independently, resulting in longer production lines, longer overall production cycle times, and lower production efficiency. Utility Model Content

[0003] In view of the above problems, the present application provides a module post-processing system, which can integrate the post-processing steps of the module after assembly to improve production efficiency.

[0004] The technical means adopted by this application to solve the above technical problems are:

[0005] The embodiment of the present application provides a module post-processing system, comprising:

[0006] A robot, wherein the robot is provided with a gripper;

[0007] A loading device, wherein the loading device is provided with a module loading position, and the module loading position falls within the movable range of the gripper;

[0008] A cache rack, wherein a plurality of temporary module placement positions are provided on the cache rack, and the temporary module placement positions fall within the movable range of the gripper;

[0009] A post-processing device includes a cleaning mechanism and a detection mechanism, and the gripper can move into the working range of the cleaning mechanism and the detection mechanism;

[0010] The gripper grabs the module located at the module loading position, and places the module at the module temporary placement position after being processed by the cleaning mechanism and / or the detection mechanism.

[0011] In the embodiment of the present application, the loading device is provided to load and transport the assembled modules; the gripper is provided to grasp and reposition the modules, thereby connecting the various processes; the post-processing device is provided to clean and / or inspect the modules; and the buffer rack is provided to temporarily store the modules. Thus, a systematic process of processing the modules after assembly, from loading, cleaning and / or inspection, to temporary storage, can be formed, thereby facilitating improved production efficiency.

[0012] In some embodiments, the gripper is provided with a plurality of module jaws and a module jaw driver for controlling the clamping or releasing between the module jaws;

[0013] The gripper is provided with a first visual camera.

[0014] In the embodiment of the present application, the module clamp is provided to grasp the module to facilitate the position change of the module; and the first visual camera is provided to identify the position status of the module, thereby improving the degree of automation of the system operation.

[0015] In some embodiments, a module tray and a tray cover are provided corresponding to the module, the tray cover and the module tray are covered to form a receiving cavity, and the module is placed in the receiving cavity;

[0016] The module tray is placed at the module loading position.

[0017] In the embodiment of the present application, the module tray and the tray cover are provided to improve the protection level of the assembled modules.

[0018] In some embodiments, the module loading position is provided with an upper cover clamping mechanism and a clamping mechanism driver for controlling the movement of the upper cover clamping mechanism;

[0019] The upper cover clamping mechanism comprises a plurality of upper cover clamping jaws and an upper cover clamping jaw driver for controlling the clamping or releasing between the upper cover clamping jaws.

[0020] In the embodiment of the present application, the upper cover clamping mechanism is provided to clamp the upper cover of the tray on the conveyor line, thereby facilitating the gripper to grasp the module.

[0021] In some embodiments, the upper cover clamping mechanism further includes a plurality of positioning jaws and a positioning jaw driver for controlling the clamping or releasing between the positioning jaws.

[0022] In the embodiment of the present application, the positioning clamps are provided to correct the position of the module tray or the tray cover, thereby improving the clamping accuracy of the tray cover.

[0023] In some embodiments, a transfer device is further included, and a transfer placement position is set on the transfer device, and the transfer placement position falls within the movable range of the gripper.

[0024] In the embodiment of the present application, the transfer device is provided to collect defective products determined after detection, thereby making the entire post-processing process more complete.

[0025] In some embodiments, the transfer device includes a transfer limit frame and a transfer mobile vehicle. A vehicle parking space is formed in the transfer limit frame, and the transfer mobile vehicle can be moved into the vehicle parking space.

[0026] The transfer placement position is arranged on the transfer mobile vehicle.

[0027] In the embodiment of the present application, by configuring the transfer device to include a transfer limit frame and a transfer mobile vehicle, the transfer mobile vehicle can be easily replaced and used more flexibly.

[0028] In some embodiments, a first guide mechanism is provided between the transfer limit frame and the transfer movable vehicle, and the first guide mechanism is used to guide the transfer movable vehicle into the vehicle body parking position.

[0029] In the embodiment of the present application, the first guide mechanism is provided to facilitate the guidance of the transfer vehicle, so that the transfer vehicle can enter the transfer limit frame more quickly and smoothly.

[0030] In some embodiments, a second guide mechanism is provided between the transfer limit frame and the transfer movable vehicle, and the second guide mechanism is used to adjust the position height of the transfer movable vehicle on the transfer limit frame.

[0031] In the embodiment of the present application, the second guide mechanism is provided to facilitate adjustment of the position and height of the transfer vehicle so as to facilitate smooth progress of subsequent processes.

[0032] In some embodiments, a locking mechanism is provided between the transfer limiting frame and the transfer moving vehicle.

[0033] In the embodiment of the present application, the locking mechanism is provided to fix the relative state between the transfer limit frame and the transfer mobile vehicle, thereby improving the reliability of the transfer device during use.

[0034] In some embodiments, at least one of the module loading position, the module temporary placement position, and the transfer placement position is provided with a module in-position sensor.

[0035] In the embodiment of the present application, the module in-position sensor is provided to detect the module, so as to improve the accuracy of the system during operation.

[0036] In some embodiments, a module height limit sensor is provided at the temporary placement position of the module.

[0037] In the embodiment of the present application, the module height limit sensor is provided to detect the status of the module at the temporary placement position of the module, so as to improve the accuracy of the gripper in subsequent grasping of the module.

[0038] In some embodiments, the post-processing device includes a device frame, the cleaning mechanism includes a plasma generator, the detection mechanism includes a second visual camera, and the plasma generator and the second visual camera are arranged on the device frame.

[0039] In the embodiment of the present application, the plasma generator is provided to perform plasma cleaning on the module; and the second visual camera is provided to identify and detect the preset detection part of the module.

[0040] In some embodiments, a material unloading device is further included, wherein the material unloading device is provided with a module unloading position, and the module unloading position falls within the movable range of the gripper.

[0041] In the embodiment of the present application, the unloading device is provided to be used for unloading and conveying the module, thereby connecting with subsequent processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0043] Figure 1 This is a schematic diagram of the application of the module post-processing system in some embodiments of the present application.

[0044] Figure 2 This is a schematic diagram of the layout of the module post-processing system of some embodiments of the present application.

[0045] Figure 3 This is a schematic structural diagram of the robot according to some embodiments of the present application.

[0046] Figure 4 This is a schematic structural diagram of the gripper of some embodiments of the present application.

[0047] Figure 5 This is a schematic structural diagram of the loading device of some embodiments of the present application.

[0048] Figure 6 This is an enlarged structural diagram of the module loading position in some embodiments of the present application.

[0049] Figure 7This is a front view structural schematic diagram of the loading device of some embodiments of the present application.

[0050] Figure 8 This is a schematic structural diagram of a transfer device in some embodiments of the present application.

[0051] Figure 9 This is a schematic diagram of the top view of the transfer device in some embodiments of the present application.

[0052] Figure 10 This is an enlarged structural diagram of the temporary placement of modules in some embodiments of the present application.

[0053] Figure 11 This is a schematic structural diagram of a post-processing device according to some embodiments of the present application.

[0054] Some of the accompanying drawings in the specific implementation manner are as follows:

[0055] 1-robot, 11-gripper, 111-module gripper, 112-module gripper driver, 113-First Vision camera, 114-module in-place detector;

[0056] 2-loading device, 21-module loading position, 211-gantry, 22-upper cover clamping mechanism, 221-clamping mechanism driver, 222-upper cover clamping jaw, 2221-upper cover clamping jaw driver, 2222-telescopic cylinder, 223-crossbeam, 224-positioning clamping jaw, 2241-positioning clamping jaw driver;

[0057] 3-cache rack, 31-temporary module placement, 311-module height limit sensor;

[0058] 4- post-processing device, 41- cleaning mechanism, 411- plasma generator, 42- detection mechanism, 421- second vision camera, 43- device frame;

[0059] 5-module, 51-module tray, 52-tray cover;

[0060] 6-transfer device, 61-transfer placement position, 62-transfer limiting frame, 63-transfer moving vehicle, 64-first guide mechanism, 641-first guide plate, 642-first guide wheel, 65-second guide mechanism, 651-second guide plate, 6511-positioning groove, 652-second guide wheel, 66-locking mechanism, 661-locking driver;

[0061] 7-Module in-position sensor;

[0062] 8- unloading device, 81- module unloading position. DETAILED DESCRIPTION

[0063] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0064] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0065] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0066] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0067] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0068] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0069] Currently, after module assembly, a cleaning process is typically required to remove dust and impurities, as well as an inspection process to verify the quality of the assembled module. However, in traditional practices, module assembly, cleaning, and inspection are separate processes, resulting in longer production cycles and lower overall production efficiency.

[0070] In response to the above technical problems, this embodiment mainly provides a module post-processing system, which can integrate the post-processing steps of the module after assembly to improve production efficiency.

[0071] like Figures 1 to 11 As shown, according to some embodiments of the present application, a module post-processing system is provided, including:

[0072] A robot 1 is provided with a gripper 11;

[0073] A loading device 2, wherein the loading device 2 is provided with a module loading position 21, and the module loading position 21 falls within the movable range of the gripper 11;

[0074] A cache rack 3, wherein a plurality of module temporary placement positions 31 are provided on the cache rack 3, and the module temporary placement positions 31 fall within the movable range of the gripper 11;

[0075] The post-processing device 4 includes a cleaning mechanism 41 and a detection mechanism 42. The gripper 11 can move into the working range of the cleaning mechanism 41 and the detection mechanism 42.

[0076] The gripper 11 grabs the module 5 located at the module loading position 21 , and places the module 5 at the module temporary placement position 31 after being processed by the cleaning mechanism 41 and / or the detection mechanism 42 .

[0077] In some embodiments, the post-processing referred to herein includes processing steps such as module cleaning, module testing, and module defective product removal performed after the module 5 is assembled.

[0078] In some embodiments, as Figure 1 、 Figure 2 As shown, the cache rack 3 can be set to one or more, and the module temporary placement position 31 is set in upper and lower layers on each cache rack 3; wherein, multiple module temporary placement positions 31 can be set in the space of the same layer.

[0079] In some embodiments, as Figure 2 As shown, the loading device 2 is located on one side of the robot 1 , two cache racks 3 are provided and are sequentially arranged on the other two sides of the robot 1 , and the post-processing device 4 is arranged between the two cache racks 3 .

[0080] The loading device 2 is used to load and transport the assembled modules 5; the gripper 11 is used to grab and reposition the modules 5, thereby connecting the various processing steps; the post-processing device 4 is used to clean and / or inspect the modules 5; and the buffer rack 3 is used for temporary storage of the modules 5. Thus, a systematic process of processing the modules 5 after assembly, from loading, cleaning and / or inspection, to temporary storage, can be formed, which can make the production cycle more compact and thus facilitate the improvement of production efficiency.

[0081] As an example of one application, Figure 3 、 Figure 4 As shown, the gripper 11 is provided with a plurality of module jaws 111 and a module jaw driver 112 for controlling the clamping or releasing between the module jaws 111;

[0082] The gripper 11 is provided with a first visual camera 113 .

[0083] In some embodiments, as Figure 4 As shown, the module clamping jaws 111 are arranged in pairs, and a clamping space for the module 5 is formed between the paired module clamping jaws 111. The module clamping jaws 111 are arranged in pairs of two, and at least one pair is provided.

[0084] In some embodiments, as Figure 4 As shown, the module clamping jaw driver 112 is configured as a cylinder.

[0085] In some embodiments, as Figure 4 As shown, the gripper 11 is provided with a module in-position detector 114 , and the module in-position detector 114 is arranged toward the clamping space formed between the module clamping jaws 111 to detect the position status of the module 5 .

[0086] In some embodiments, the module arrival detector 114 is configured as a sensor.

[0087] The module clamp 111 is provided to grasp the module 5 so as to change the position of the module 5; and the first visual camera 113 is provided to identify the position status of the module 5, thereby improving the degree of automation of the system operation.

[0088] As an example of one application, Figure 7 As shown, a module tray 51 and a tray cover 52 are provided corresponding to the module 5. The tray cover 52 and the module tray 51 are covered to form a receiving cavity, and the module 5 is placed in the receiving cavity;

[0089] The module tray 51 is placed at the module loading position 21 .

[0090] The module tray 51 provided can be used to place the assembled module 5, and the tray cover 52 provided can be covered on the module tray 51; so that the module 5 is in the module tray 51 during transportation after assembly, and the module tray 51 is placed on the conveyor line for transportation, thereby realizing the transportation of the module 5; under this design, accidental collisions of the module 5 during transportation on the conveyor line can be avoided, thereby facilitating the improvement of the protection level of the assembled module 5.

[0091] As an example of one application, Figures 5 to 7 As shown, the module loading position 21 is provided with an upper cover clamping mechanism 22 and a clamping mechanism driver 221 for controlling the movement of the upper cover clamping mechanism 22;

[0092] The upper cover clamping mechanism 22 includes a plurality of upper cover clamping jaws 222 and an upper cover clamping jaw driver 2221 for controlling the clamping or releasing between the upper cover clamping jaws 222 .

[0093] In some embodiments, as Figure 6 As shown, a gantry 211 is provided at the module upper material position 21, and the upper cover clamping mechanism 22 includes a beam 223, which can be relatively slidably arranged on the gantry 211, and the clamping mechanism driver 221 is used to control the position change of the beam 223 on the gantry 211.

[0094] In some embodiments, as Figure 6 As shown, a slide rail guide mechanism is provided between the crossbeam 223 and the door frame 211 , and the clamping mechanism driver 221 is provided as a motor.

[0095] In some embodiments, as Figure 6 As shown, one or more upper cover clamps 222 are provided on the crossbeam 223 along the length direction of the crossbeam 223 ; the upper cover clamp driver 2221 is configured as a clamping cylinder.

[0096] In some embodiments, as Figure 6 As shown, a telescopic cylinder 2222 is provided between the upper cover clamping jaw 222 and the crossbeam 223 , and the telescopic cylinder 2222 is used to control the position height of the upper cover clamping jaw 222 .

[0097] The upper cover clamping mechanism 22 can clamp the tray upper cover 52 on the conveyor line so that the tray upper cover 52 can be removed from the module tray 51, thereby facilitating the gripper 11 to grab the module 5 located in the module tray 51. After the module 5 is removed, the tray upper cover 52 can be closed on the module tray 51, thereby facilitating the overall output of the module tray 51 and the tray upper cover 52 for subsequent recycling.

[0098] As an example of one application, Figure 6 、 Figure 7 As shown, the upper cover clamping mechanism 22 further includes a plurality of positioning jaws 224 and a positioning jaw driver 2241 for controlling the clamping or releasing between the positioning jaws 224 .

[0099] In some embodiments, as Figure 6 、 Figure 7 As shown, two positioning clamps 224 are provided on the same beam 223 , and are respectively provided at both ends of the beam 223 , and a clamping space is formed between the two positioning clamps 224 .

[0100] In some embodiments, as Figure 6 As shown, the positioning clamp driver 2241 is configured as a cylinder.

[0101] By providing the positioning claws 224 , the position of the module tray 51 or the tray cover 52 can be centered, thereby improving the clamping accuracy of the tray cover 52 by the cover clamping mechanism 22 .

[0102] As an example of one application, Figure 1 、 Figure 2 、 Figure 8 、 Figure 9 As shown, the module post-processing system further includes a transfer device 6 , on which a transfer placement position 61 is provided. The transfer placement position 61 falls within the movable range of the gripper 11 .

[0103] In some embodiments, as Figure 2 As shown, the transfer device 6 and the loading device 2 are arranged on the same side of the robot 1.

[0104] By providing the transfer device 6, defective products determined after detection can be collected, thereby making the entire post-processing process more complete.

[0105] As an example of one application, Figure 8 、 Figure 9As shown, the transfer device 6 includes a transfer limit frame 62 and a transfer mobile vehicle 63. A vehicle parking space is formed in the transfer limit frame 62, and the transfer mobile vehicle 63 can be moved into the vehicle parking space;

[0106] The transfer placement position 61 is set on the transfer moving vehicle 63.

[0107] In some embodiments, as Figure 9 As shown, the transfer moving vehicle 63 is provided with one or more transfer placement positions 61 .

[0108] In some embodiments, as Figure 8 As shown, the bottom of the transfer vehicle 63 is provided with universal wheels.

[0109] By configuring the transfer device 6 to include a transfer limiting frame 62 and a transfer moving vehicle 63 , the transfer moving vehicle 63 can be easily replaced and used more flexibly.

[0110] As an example of one application, Figure 8 、 Figure 9 As shown, a first guide mechanism 64 is provided between the transfer limit frame 62 and the transfer movable vehicle 63 , and the first guide mechanism 64 is used to guide the transfer movable vehicle 63 into the vehicle body parking position.

[0111] In some embodiments, as Figure 8 、 Figure 9 As shown, the first guide mechanism 64 includes a first guide plate 641 and a first guide wheel 642. The end of the first guide plate 641 is provided with a guide slope, which plays a guiding role through the contact between the surface of the first guide plate 641 and the wheel surface of the first guide wheel 642.

[0112] In some embodiments, as Figure 9 As shown, the first guide plates 641 are arranged on two opposite sides of the vehicle parking position, and the first guide wheels 642 are arranged on two sides of the transfer vehicle 63.

[0113] In some embodiments, the first guide plates 641 are disposed on two side surfaces of the transfer vehicle 63 , and the first guide wheels 642 are disposed on two opposite side surfaces of the vehicle parking position.

[0114] The number of the first guide wheels 642 can be adjusted according to actual conditions and is not specifically limited here.

[0115] The first guide mechanism 64 can be provided to facilitate guiding the transfer vehicle 63 so that the transfer vehicle 63 can enter the transfer limiting frame 62 more quickly and smoothly.

[0116] As one of the application examples, you can continue to refer to Figure 8 、 Figure 9 As shown, a second guide mechanism 65 is provided between the transfer limit frame 62 and the transfer movable vehicle 63 , and the second guide mechanism 65 is used to adjust the position height of the transfer movable vehicle 63 on the transfer limit frame 62 .

[0117] In some embodiments, as Figure 8 、 Figure 9 As shown, the second guide mechanism 65 includes a second guide plate 651 and a second guide wheel 652. The second guide plate 651 is disposed on the transfer limit frame 62, with the end surface of the second guide plate 651 facing upward and the end of the second guide plate 651 also provided with a guide slope; the second guide wheel 652 is disposed on the transfer vehicle 63, and the contact between the wheel surface of the second guide wheel 652 and the end surface of the second guide plate 651 provides guidance and position adjustment.

[0118] In some embodiments, as Figure 8 As shown, a positioning groove 6511 is provided on the end surface of the second guide plate 651 , and the second guide wheel 652 can move into the positioning groove 6511 .

[0119] The second guide mechanism 65 can be used to adjust the height of the transfer vehicle 63 to facilitate the smooth progress of subsequent processes, such as the detection of the module 5 at the transfer placement position 61 .

[0120] As an example of one application, Figure 8 As shown, a locking mechanism 66 is provided between the transfer limiting frame 62 and the transfer moving vehicle 63 .

[0121] In some embodiments, as Figure 8 As shown, the locking mechanism 66 includes a locking driver 661 arranged on the transfer limit frame 62, the movable end of the locking driver 661 is provided with a locking pin, and a locking portion cooperating with the locking pin is provided on the transfer mobile vehicle 63. The locking pin is driven by the locking driver 661, so that the locking pin and the locking portion are mutually engaged, thereby achieving locking.

[0122] In some embodiments, as Figure 8 As shown, the locking drive 661 is configured as a motor.

[0123] By providing the locking mechanism 66 , the relative state between the transfer limiting frame 62 and the transfer moving vehicle 63 can be fixed, thereby improving the reliability of the transfer device 6 during use.

[0124] As an example of one application, Figure 1 、 Figure 5 、 Figure 8 、 Figure 10 As shown, at least one of the module loading position 21 , the module temporary placement position 31 , and the transfer placement position 61 is provided with a module in-position sensor 7 .

[0125] In some embodiments, as Figure 1 、 Figure 5 、 Figure 8 、 Figure 10 As shown, the module loading position 21, the module temporary placement position 31, and the transfer placement position 61 are respectively provided with the module in-position sensor 7.

[0126] In some embodiments, the module presence sensor 7 is configured as a sensor.

[0127] The module in-position sensor 7 is provided to detect the module 5 so as to improve the accuracy of the system during operation.

[0128] As an example of one application, Figure 10 As shown, a module height limit sensor 311 is provided on the module temporary placement position 31 .

[0129] In some embodiments, the module height limit sensor 311 is configured as a sensor.

[0130] By providing the module height limit sensor 311 , the status of the module 5 on the module temporary placement position 31 can be detected, so as to improve the accuracy of the gripper 11 in subsequently grabbing the module 5 .

[0131] As an example of one application, Figure 11 As shown, the post-processing device 4 includes a device frame 43 , the cleaning mechanism 41 includes a plasma generator 411 , and the detection mechanism 42 includes a second visual camera 421 . The plasma generator 411 and the second visual camera 421 are arranged on the device frame 43 .

[0132] The plasma generator 411 is provided to perform plasma cleaning on the module 5 ; the second visual camera 421 is provided to identify and detect a preset detection portion of the module 5 .

[0133] As an example of one application, Figure 1 、 Figure 2 As shown, the module post-processing system further includes a material discharge device 8 , and the material discharge device 8 is provided with a module material discharge position 81 , and the module material discharge position 81 falls within the movable range of the gripper 11 .

[0134] In some embodiments, as Figure 2 As shown, the unloading device 8 is arranged on the other side of the robot 1, and the loading device 2, cache rack 3, post-processing device 4, unloading device 8, and transfer device 6 are arranged in sequence around the robot 1, making the overall spatial layout of the system more compact.

[0135] The provided unloading device 8 can be used for unloading and conveying the module 5, thereby connecting with subsequent processes.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A module post-processing system, characterized in that: include: A robot, wherein the robot is provided with a gripper; A loading device, wherein the loading device is provided with a module loading position, and the module loading position falls within the movable range of the gripper; A cache rack, wherein a plurality of temporary module placement positions are provided on the cache rack, and the temporary module placement positions fall within the movable range of the gripper; A post-processing device includes a cleaning mechanism and a detection mechanism, and the gripper can move into the working range of the cleaning mechanism and the detection mechanism; The gripper grabs the module located at the module loading position, and places the module at the module temporary placement position after being processed by the cleaning mechanism and / or the detection mechanism.

2. The module post-processing system according to claim 1, characterized in that: The gripper is provided with a plurality of module jaws and a module jaw driver for controlling the clamping or releasing between the module jaws; The gripper is provided with a first visual camera.

3. The module post-processing system according to claim 1 or 2, characterized in that: A module tray and a tray cover are provided corresponding to the module, the tray cover and the module tray are covered to form a receiving cavity, and the module is placed in the receiving cavity; The module tray is placed at the module loading position.

4. The module post-processing system according to claim 3, characterized in that: The module loading position is provided with an upper cover clamping mechanism and a clamping mechanism driver for controlling the movement of the upper cover clamping mechanism; The upper cover clamping mechanism comprises a plurality of upper cover clamping jaws and an upper cover clamping jaw driver for controlling the clamping or releasing between the upper cover clamping jaws.

5. The module post-processing system according to claim 4, characterized in that: The upper cover clamping mechanism further comprises a plurality of positioning jaws and a positioning jaw driver for controlling the clamping or releasing between the positioning jaws.

6. The module post-processing system according to claim 1 or 5, characterized in that: It also includes a transfer device, on which a transfer placement position is provided, and the transfer placement position falls within the movable range of the gripper.

7. The module post-processing system according to claim 6, characterized in that: The transfer device includes a transfer limit frame and a transfer mobile vehicle. A vehicle parking space is formed in the transfer limit frame, and the transfer mobile vehicle can be moved into the vehicle parking space. The transfer placement position is arranged on the transfer mobile vehicle.

8. The module post-processing system according to claim 7, characterized in that: A first guide mechanism is provided between the transfer limiting frame and the transfer movable vehicle, and the first guide mechanism is used to guide the transfer movable vehicle into the vehicle body parking position.

9. The module post-processing system according to claim 7 or 8, characterized in that: A second guide mechanism is provided between the transfer limiting frame and the transfer moving vehicle, and the second guide mechanism is used to adjust the position height of the transfer moving vehicle on the transfer limiting frame.

10. The module post-processing system according to claim 9, characterized in that: A locking mechanism is provided between the transfer limiting frame and the transfer moving vehicle.

11. The module post-processing system according to claim 6, characterized in that: At least one of the module loading position, the module temporary placement position, and the transfer placement position is provided with a module in-position sensor.

12. The module post-processing system according to claim 1 or 11, characterized in that: The module temporary placement position is provided with a module height limit sensor.

13. The module post-processing system according to claim 1 or 11, characterized in that: The post-processing device includes a device frame, the cleaning mechanism includes a plasma generator, and the detection mechanism includes a second visual camera. The plasma generator and the second visual camera are arranged on the device frame.

14. The module post-processing system according to claim 13, characterized in that: It also includes a material unloading device, which is provided with a module unloading position, and the module unloading position falls within the movable range of the gripper.

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