Pick-and-place system for photovoltaic module lamination frame

Abstract

The utility model discloses a photovoltaic module lamination frame pick-and-place system, relates to the technical field of photovoltaic module lamination, and aims to solve the problem that the lamination frame is easy to deform when the lamination frame is carried manually, the photovoltaic module lamination frame pick-and-place system comprises a conveying bed, a photovoltaic module is arranged on the conveying bed, a magnetic attraction lamination frame is arranged on the periphery of the photovoltaic module, and the magnetic attraction lamination frame is arranged on the periphery of the conveying bed. The conveying robot is movably arranged on one side of the conveying bed, the conveying robot is used for carrying the magnetic attraction laminating frame, the conveying device is arranged above the conveying bed and used for automatically identifying, attracting, conveying and putting down the magnetic attraction laminating frame, and the control device is arranged on the conveying device and is in signal connection with the conveying bed, the conveying robot and the conveying device.

Description

TECHNICAL FIELD

[0001] The utility model relates to photovoltaic module laminating technical field more specifically, relate to a kind of photovoltaic module laminating frame taking and placing system. BACKGROUND

[0002] In the preparation process of photovoltaic module, when carrying out laminating link, the stress of photovoltaic module glass surface is uneven, usually, aluminum laminating frame is placed in the periphery of photovoltaic module to improve the stress balance of glass edge in the laminating process. The laminating frame is placed in the periphery of photovoltaic module by workers before the laminating photovoltaic module enters laminating machine, and the laminating frame is moved away by workers when the laminated photovoltaic module leaves the laminating machine.

[0003] Since the laminating frame is sleeved on the outer edge of the photovoltaic module, and the size of the common photovoltaic module on the market is more than 2.3 meters x 1.2 meters, the distance between the upper and lower surfaces of the glass is less than 10 mm, and the laminating frame needs to be slightly larger than this size, and the thickness is generally not more than 10 mm. The laminating frame is large in size, and the frame body is generally made of lightweight aluminum alloy, which has low strength. This leads to the deformation of the long and thin laminating frame when it is held by one person, as the stress cannot be evenly distributed, resulting in longitudinal deformation of the frame body. After the deformation of the laminating frame, it cannot ensure that the laminating frame is sleeved on the outer edge of the photovoltaic module at all times, which reduces the protection of the edge of the photovoltaic module during the laminating process, and further affects the laminating yield of the photovoltaic module.

[0004] Therefore, how to solve the problem of deformation of the laminating frame caused by manual handling of the laminating frame is a problem that needs to be solved by the technical personnel in the field. CONTENT OF THE UTILITY MODEL

[0005] Therefore, the utility model aims to provide a photovoltaic module laminating frame taking and placing system, which can evenly distribute the stress on the photovoltaic module laminating frame during the taking and placing process, avoid deformation of the laminating frame, and ensure the yield of the photovoltaic module laminating process.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0007] A photovoltaic module laminating frame taking and placing system, comprising:

[0008] A conveying bed is provided with a photovoltaic module, and the outer periphery of the photovoltaic module is provided with a magnetic laminating frame;

[0009] A transport robot is movably arranged on one side of the conveying bed, and the transport robot is used to handle the magnetic laminating frame;

[0010] A conveying device is arranged above the conveying bed, and the conveying device is used to automatically identify, pick up, convey and place the magnetic laminating frame;

[0011] A control device is arranged on the conveying device, and the control device is signal connected with the conveying bed, the transport robot and the conveying device.

[0012] Preferably, the conveying device comprises a rack and a lifting and rotating device arranged on the rack, the lifting and rotating device is signal connected with the control device, and the lifting and rotating device is connected with a magnetic rod frame, and the lifting and rotating device is used to drive the magnetic rod frame to lift, translate and rotate.

[0013] Preferably, the electromagnetic points of the magnetic rod frame are arranged one by one corresponding to the magnetic points of the magnetic lamination frame, and the magnetic rod frame is internally provided with a magnetic sensor used to detect the adsorption completion of the electromagnetic points and the magnetic points, and the magnetic sensor is signal connected with the control device.

[0014] Preferably, the magnetic lamination frame is rectangular, and the two side edges of the magnetic lamination frame are each provided with a circular corner extending outward, and an iron block is embedded in the circular corner to form a magnetic point.

[0015] Preferably, the magnetic lamination frame is rectangular, and the two side edges of the magnetic lamination frame are each provided with a circular corner extending outward, and an iron block is embedded in the circular corner to form a magnetic point.

[0016] Preferably, the lifting and rotating device comprises a screw rod lifting mechanism, an electric push rod and a rotating mechanism, the screw rod lifting mechanism is arranged on the rack and extends along the height direction of the rack, the screw rod lifting mechanism is located on one side of the conveying bed, one end of the electric push rod is connected with the screw rod lifting mechanism and used to drive the electric push rod to move along the height direction of the rack, the electric push rod extends along a direction perpendicular to the conveying direction of the photovoltaic module by the conveying bed, the other end of the electric push rod is connected with the rotating mechanism, and the electric push rod is used to drive the rotating mechanism to extend and contract along the length direction of the electric push rod, the rotating mechanism is connected with the magnetic rod frame and used to drive the magnetic rod frame to rotate.

[0017] Preferably, the rack is provided with a visual detection device, the visual detection device is used to detect the relative position of the magnetic rod frame and the magnetic lamination frame in real time, and the detected signal is sent to the control device.

[0018] Preferably, the visual detection device comprises a first visual detector and a second visual detector, the first visual detector is arranged on the screw rod lifting mechanism and moves synchronously with the electric push rod, and the second visual detector is arranged on the top of the rack.

[0019] Preferably, the rack comprises a first support frame and a second support frame symmetrically arranged on two sides of the conveying bed, and the first support frame and the second support frame are detachably connected through buckles.

[0020] Preferably, the transport robot comprises a robot body having a controller for controlling movement of the robot body, the controller being in signal connection with the control device, a horizontal support for storing the magnetically-attractable laminating frame being arranged on the robot body, and a weight sensor for detecting the weight of the magnetically-attractable laminating frame on the horizontal support being arranged in the robot body, the weight sensor being in signal connection with the controller.

[0021] The photovoltaic module laminating frame taking and placing system provided by the utility model comprises a conveying bed, a magnetically-attractable laminating frame, a transport robot, a conveying device and a control device, specifically, the control device is in signal connection with the conveying bed, the transport robot and the conveying device, the running state of the conveying bed, the transport robot and the conveying device is controlled through the control device, a photovoltaic module is arranged on the conveying bed, a magnetically-attractable laminating frame is sleeved on the periphery of the photovoltaic module, the conveying bed is controlled to run through the control device, so as to convey the photovoltaic module and the magnetically-attractable laminating frame, the conveying device is arranged above the conveying bed, the conveying device is used for automatically identifying, attracting, conveying and placing the magnetically-attractable laminating frame, the transport robot is movably arranged on one side of the conveying bed, the position of the magnetically-attractable laminating frame is automatically identified through the control of the conveying device, after the position of the magnetically-attractable laminating frame is identified, the magnetically-attractable laminating frame is attracted and transported to the position corresponding to the transport robot, and then the magnetically-attractable laminating frame is placed on the transport robot, the transport robot is used for carrying the magnetically-attractable laminating frame, and the laminated magnetically-attractable laminating frame is transported to the next station through the control of the transport robot.

[0022] The magnetically-attractable laminating frame is placed and attracted in the mode of magnetic attraction, in the process of taking and placing the magnetically-attractable laminating frame, the magnetically-attractable laminating frame and the conveying device cooperate, the magnetically-attractable laminating frame can be uniformly stressed when being taken and placed, so that the magnetically-attractable laminating frame is prevented from deforming, and then the yield of the photovoltaic module laminating procedure is ensured, the automatic placing and carrying away of the magnetically-attractable laminating frame can be realized through the cooperation of the transport robot, so that the labor cost is reduced, and the utility is high. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the following embodiment or prior art description will be briefly introduced, obviously, the drawings in the following description are only the embodiments of the utility model, and other drawings can be obtained by the provided drawings without creative labor for the ordinary skilled in the art.

[0024] Figure 1 The structure diagram of the photovoltaic module laminating frame taking and placing system provided by the utility model.

[0025] Signs:

[0026] 01-photovoltaic module;

[0027] 1-conveying bed;

[0028] 2 - magnetic lamination frame;

[0029] 3 - transport robot;

[0030] 4 - conveying device, 41 - rack, 42 - magnetic rod frame, 43 - screw lifting mechanism, 44 - electric push rod, 45 - rotating mechanism, 46 - visual detection device;

[0031] 5 - buckle;

[0032] 6 - horizontal support. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be the communication between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0035] It should be noted that the "up, down, left, right, front, back" and other directional words in the following text are defined based on the drawings of the specification.

[0036] The core of the present application is to provide a photovoltaic module lamination frame taking and placing system, which can make the stress of the photovoltaic module 01 lamination frame uniform during the process of taking and placing the photovoltaic module 01 lamination frame, avoid the deformation of the lamination frame, and ensure the yield of the photovoltaic module 01 lamination process.

[0037] Please refer to Figure 1 A photovoltaic module lamination frame taking and placing system includes a conveying bed 1, a magnetic lamination frame 2, a transport robot 3, a conveying device 4 and a control device.

[0038] Specifically, the control device is in signal connection with the conveying bed 1, the transport robot 3 and the conveying device 4, the running states of the conveying bed 1, the transport robot 3 and the conveying device 4 are controlled through the control device, the photovoltaic module 01 is arranged on the conveying bed 1, the outer periphery of the photovoltaic module 01 is sleeved with the magnetic attraction laminated frame 2, the conveying bed 1 is controlled to run to convey the photovoltaic module 01 and the magnetic attraction laminated frame 2, the conveying device 4 is arranged above the conveying bed 1, and the conveying device 4 is used to automatically identify, suck, convey and put down the magnetic attraction laminated frame 2, the transport robot 3 is movably arranged on one side of the conveying bed 1, the position of the magnetic attraction laminated frame 2 is automatically identified through the control of the conveying device 4, after the position of the magnetic attraction laminated frame 2 is identified, the magnetic attraction laminated frame 2 is sucked and transported to the position corresponding to the transport robot 3, and then the magnetic attraction laminated frame 2 is placed on the transport robot 3, the transport robot 3 is used to carry the magnetic attraction laminated frame 2, and the laminated magnetic attraction laminated frame 2 is transported to the next station through the control of the transport robot 3.

[0039] The system can be used for carrying the magnetic attraction laminated frame 2 of the photovoltaic module 01 before lamination and after lamination, the magnetic attraction laminated frame 2 before lamination is carried, the magnetic attraction laminated frame 2 is transported to the feeding station of the conveying bed 1 through the control of the transport robot 3, the conveying device 4 is controlled to automatically identify, suck, convey and put down the magnetic attraction laminated frame 2, so that the magnetic attraction laminated frame 2 transported by the transport robot 3 is transferred to the photovoltaic module 01 on the conveying bed 1, the magnetic attraction laminated frame 2 after lamination is carried, the idle transport robot 3 is controlled to move to the discharging station of the conveying bed 1, the conveying device 4 is controlled to automatically identify, suck, convey the magnetic attraction laminated frame 2 after lamination on the conveying bed 1 and place the magnetic attraction laminated frame 2 on the idle transport robot 3, and the magnetic attraction laminated frame 2 after lamination is transported to the next station through the transport robot 3.

[0040] The magnetic attraction laminated frame 2 is placed and sucked in a magnetic attraction mode, in the process of taking and placing the magnetic attraction laminated frame 2, the magnetic attraction laminated frame 2 and the conveying device 4 cooperate, the magnetic attraction laminated frame 2 can be uniformly stressed when taking and placing, so that the magnetic attraction laminated frame 2 is prevented from deforming, and the yield of the photovoltaic module 01 lamination process is ensured, the cooperation of the transport robot 3 can realize the automatic placement and removal of the magnetic attraction laminated frame 2, so as to reduce the labor cost and have high practicability.

[0041] In the above embodiment, the conveying device 4 comprises a rack 41 and a lifting and rotating device arranged on the rack 41, the lifting and rotating device is in signal connection with the control device, the lifting and rotating device is connected with a magnetic attraction rod frame 42, and the lifting and rotating device is used to drive the magnetic attraction rod frame 42 to lift, translate and rotate.

[0042] It should be noted that the lifting rotating device is controlled by the control device to drive the magnetic rod holder 42 to lift, translate and rotate. The magnetic rod holder 42 is translated to align with the magnetic lamination frame 2, the magnetic rod holder 42 is lowered to attract the magnetic lamination frame 2, the magnetic rod holder 42 is raised to drive the magnetic lamination frame 2 to move up synchronously, and enough space is provided for the magnetic lamination frame 2 to rotate. The magnetic lamination frame 2 is rotated to be transported to the horizontal support 6 of the transport robot 3.

[0043] In the above case, the electromagnetic points of the magnetic rod holder 42 and the magnetic attraction points of the magnetic lamination frame 2 are arranged one by one, and the magnetic rod holder 42 is provided with a magnetic sensor for detecting the completion of the attraction between the electromagnetic points and the magnetic attraction points. The magnetic sensor is signal connected with the control device.

[0044] It can be understood that the magnetic lamination frame 2 is attracted by the magnetic rod holder 42, the magnetic sensor is used to judge whether the magnetic rod holder 42 completes the effective attraction to the magnetic lamination frame 2, and the signal detected is sent to the control device to control the next action.

[0045] Further, the magnetic lamination frame 2 is rectangular, and the two side edges of the magnetic lamination frame 2 are provided with outwardly extending round corners, and the round corners are embedded with iron blocks to form magnetic attraction points.

[0046] It should be noted that the electromagnetic attraction type scheme is introduced, the round corners embedded with iron blocks are introduced at the edges of the magnetic lamination frame 2 as magnetic attraction force points, and the magnetic attraction face plates corresponding to the positions of the round corners are installed on the magnetic rod holder 42 as electromagnetic points. Through the cooperation of the two, the effective attraction of the magnetic rod holder 42 to the magnetic lamination frame 2 is realized.

[0047] In the above embodiment, at least three magnetic attraction points are provided on any one side edge of the magnetic lamination frame 2, and the at least three magnetic attraction points are uniformly arranged on the edge of the magnetic lamination frame 2.

[0048] It can be understood that when the magnetic lamination frame 2 is placed and moved away, the six electromagnetic points of the magnetic rod holder 42 are aligned with the six magnetic attraction points of the magnetic lamination frame 2, so that the parts of the magnetic lamination frame 2 are uniformly stressed, the frame body deformation caused by uneven stress is avoided, and the yield of the lamination process is ensured.

[0049] In this embodiment, the magnetic attraction points and the electromagnetic points are six and one-to-one, but in actual application, the number and arrangement of the magnetic attraction points and the electromagnetic points are not limited, as long as the above technical effects can be achieved.

[0050] On the basis of the above embodiment, the lifting and rotating device comprises a screw lifting mechanism 43, an electric push rod 44 and a rotating mechanism 45, the screw lifting mechanism 43 is arranged on the rack 41 and extends along the height direction of the rack 41, the screw lifting mechanism 43 is located on one side of the conveying bed 1, the screw lifting mechanism 43 is connected with one end of the electric push rod 44 and is used to drive the electric push rod 44 to move along the height direction of the rack 41, the electric push rod 44 extends along a direction perpendicular to the conveying direction of the photovoltaic module 01 on the conveying bed 1, the other end of the electric push rod 44 is connected with the rotating mechanism 45, the electric push rod 44 is used to drive the rotating mechanism 45 to move along the length direction of the electric push rod 44, the rotating mechanism 45 is connected with the magnetic attraction rod frame 42 and is used to drive the magnetic attraction rod frame 42 to rotate.

[0051] It should be noted that in the initial state, the magnetic attraction rod frame 42 is located above the conveying bed 1, when the magnetic attraction laminated frame 2 laminated on the conveying bed 1 is adsorbed, the electric push rod 44 and the conveying bed 1 are first started by the control device to drive the magnetic attraction rod frame 42 and the magnetic attraction laminated frame 2 to translate, so that the electromagnetic points of the magnetic attraction rod frame 42 are aligned with the magnetic attraction points of the magnetic attraction laminated frame 2, then the electric push rod 44 and the conveying bed 1 are stopped, the screw lifting mechanism 43 is started to drive the magnetic attraction rod frame 42 to move downward, that is, to move close to the conveying bed, until the electromagnetic points of the magnetic attraction rod frame 42 contact the magnetic attraction points of the magnetic attraction laminated frame 2, then the screw lifting mechanism 43 is stopped, the electromagnetic points are electrified to realize the adsorption of the magnetic attraction points, and whether the adsorption is tight is judged by the magnetic inductor, and the signal after the judgment is sent to the control device, when the adsorption is tight, the screw lifting mechanism 43 is started again by the control device to drive the magnetic attraction rod frame 42 to move upward, that is, to move away from the conveying bed, when the magnetic attraction rod frame 42 moves to the position, the screw lifting mechanism 43 is stopped by the control device, then the electric push rod 44 is started to make the electric push rod 44 elongate, so that the magnetic attraction laminated frame 2 translates to the direction close to the conveying robot 3, when the translation is completed, the electric push rod 44 is stopped, the rotating mechanism 45 is started to make the magnetic attraction laminated frame 2 rotate, and the screw lifting mechanism 43 is started to make the magnetic attraction laminated frame 2 rotate to the horizontal support 6 of the conveying robot 3, then the rotating mechanism 45 and the screw lifting mechanism 43 are stopped, so that the taking and placing process of the laminated magnetic attraction laminated frame 2 is completed, finally the magnetic attraction rod frame 42 is restored to the initial position in the reverse order to prepare for the adsorption of the next laminated magnetic attraction laminated frame 2.

[0052] When it is needed to transport the un-laminated magnetic laminated frame 2 on the horizontal support 6 of the transport robot 3 to the conveying bed 1, the control device first controls the electric push rod 44 to start to drive the magnetic rod holder 42 to translate to the outside of the conveying bed 1, then controls the electric push rod 44 to stop running, then controls the rotating mechanism 45 to start to make the magnetic rod holder 42 rotate, and controls the screw rod lifting mechanism 43 to start to make the magnetic rod holder 42 rotate to be able to align with the magnetic laminated frame 2 suspended on the horizontal support 6 of the transport robot 3, then controls the rotating mechanism 45 and the screw rod lifting mechanism 43 to stop running, then controls the electromagnetic point to be energized to realize the adsorption of the magnetic point, and judges whether the adsorption is tight through the magnetic inductor, and sends the signal after the judgment to the control device, when the adsorption is tight, controls the rotating mechanism 45 and the screw rod lifting mechanism 43 to start to drive the magnetic laminated frame 2 to rotate and rise, until the magnetic rod holder 42 is parallel to the conveying bed 1, controls the rotating mechanism 45 and the screw rod lifting mechanism 43 to stop running, and controls the electric push rod 44 and the conveying bed 1 to start, so that the electric push rod 44 is retracted to drive the magnetic laminated frame 2 to translate to the right, through the cooperation of the electric push rod 44 and the conveying bed 1, the magnetic laminated frame 2 is aligned with the photovoltaic module 01 on the conveying bed 1, after the magnetic laminated frame 2 is aligned with the photovoltaic module 01, the electric push rod 44 and the conveying bed 1 are controlled to stop running, and the screw rod lifting mechanism 43 is controlled to start to drive the magnetic laminated frame 2 to move downwards, that is, to move close to the conveying bed, until the magnetic laminated frame 2 is placed on the outer periphery of the photovoltaic module 01, the screw rod lifting mechanism 43 is controlled to stop running, thus realizing the taking and placing process of the un-laminated magnetic laminated frame 2, finally the magnetic rod holder 42 is controlled to recover to the initial position according to the reverse steps, to prepare for the adsorption of the next un-laminated magnetic laminated frame 2.

[0053] In the above embodiment, the taking and placing action of the magnetic laminated frame 2 is decomposed, actually only three basic actions of lifting, translating and rotating are needed to complete the taking and placing of the magnetic laminated frame 2, a simple mechanical arm, that is, a lifting and rotating device is designed to ensure the function of the above three actions, and the magnetic rod holder 42 is additionally installed, which can completely avoid the uneven force of the magnetic laminated frame 2 during the handling process, and through the linkage of each part, the rate of taking and placing the magnetic laminated frame 2 is greatly improved.

[0054] In the above embodiment, the rack 41 is provided with a visual detection device 46, which is used to detect the relative position of the magnetic rod holder 42 and the magnetic laminated frame 2 in real time, and sends the detected signal to the control device.

[0055] It can be understood that the visual detection device 46 needs to detect the position during the taking, placing and carrying of the magnetic suction laminated frame 2. The visual detection device 46 is used to detect the relative position between the magnetic suction rod frame 42 and the magnetic suction laminated frame 2 in real time, and send the detected signal to the control device, so as to control the specific action of the magnetic suction rod frame 42 through the position signal.

[0056] As a preferred embodiment, the visual detection device 46 includes a first visual detector and a second visual detector. The first visual detector is arranged on the screw rod lifting mechanism 43, wherein the screw rod lifting mechanism 43 includes a screw rod rotating and a nut moving along the axial direction of the screw rod. The first visual detector is arranged on the nut and moves synchronously with the nut. One end of the electric push rod 44 is connected with the nut, so that the electric push rod 44 moves synchronously with the nut, thereby realizing the lifting movement of the magnetic suction rod frame 42. The second visual detector is arranged on the top of the rack 41.

[0057] It should be noted that the first visual detector and the second visual detector are used to detect whether the rotating mechanism 45 rotates the magnetic suction rod frame 42 to the position, whether the screw rod lifting mechanism 43 lifts the magnetic suction rod frame 42 to the position, and whether the electric push rod 44 moves the magnetic suction rod frame 42 to the position in real time.

[0058] In the above case, the rack 41 includes a first support frame and a second support frame symmetrically arranged on both sides of the conveying bed 1. The first support frame and the second support frame are detachably connected through the buckle 5.

[0059] It can be understood that the rack 41 is relatively light as a whole, and the buckle 5 is designed. The whole system can be divided into at least two parts and distributed on both sides of the conveying bed 1 for assembly. When installation is needed, the system can be immediately assembled and can work after being connected to the power supply. The system does not need to modify the production line and can reduce the interference with the flow line production activities.

[0060] In the above embodiment, the transport robot 3 includes a robot body having a controller for controlling the movement of the robot body. The controller is signal connected with the control device. The robot body is provided with a horizontal support 6 for storing the magnetic suction laminated frame 2. The robot body is provided with a weight sensor for detecting the weight of the magnetic suction laminated frame 2 on the horizontal support 6. The weight sensor is signal connected with the controller.

[0061] It should be noted that the weight of the magnetic adsorption laminated frame 2 carried by the horizontal support 6 is detected in real time by the weight sensor, and when the weight sensor detects that the weight of the magnetic adsorption laminated frame 2 carried by the horizontal support 6 reaches the limit, a signal is sent to the controller to control the movement of the robot body, so as to transfer the carried magnetic adsorption laminated frame 2 to the next station. At the same time, the controller sends a signal to the control device that the next empty transport robot 3 needs to move to the feeding station, and the control device sends an instruction to the controller of the next transport robot 3, and after the controller of the next transport robot 3 receives the moving instruction, the robot body is controlled to move to the feeding station.

[0062] When the weight sensor of the transport robot 3 at the feeding station detects that the horizontal support 6 is empty, a signal is sent to the controller, and the controller sends a signal to the control device that the next full transport robot 3 needs to move to the feeding station. Through the control device, an instruction is sent to the controller of the next transport robot 3, and after the controller of the next transport robot 3 receives the moving instruction, the robot body is controlled to move to the feeding station.

[0063] When the magnetic adsorption laminated frame 2 is taken, the relative positions of the magnetic adsorption point of the magnetic adsorption laminated frame 2 and the electromagnetic point of the magnetic adsorption rod holder 42 are determined by the first visual detector and the second visual detector through the three-dimensional vision system, and the height of the magnetic adsorption rod holder 42 is adjusted by controlling the screw rod lifting mechanism 43, the left and right positions of the magnetic adsorption rod holder 42 are adjusted by controlling the electric push rod 44, the front and back positions of the magnetic adsorption laminated frame 2 along the assembly line are adjusted by controlling the conveying bed 1, and the magnetic adsorption rod holder 42 is aligned. After the magnetic adsorption rod holder 42 is aligned with the front and back and left and right positions of the magnetic adsorption laminated frame 2, the magnetic adsorption laminated frame 2 is adsorbed onto the magnetic adsorption rod holder 42 by controlling the screw rod lifting mechanism 43 to contact the magnetic adsorption laminated frame 2 to the magnetic adsorption rod holder 42, and the electromagnetic switch is turned on at the same time. Whether the adsorption is completed is judged by the magnetic inductor built in the magnetic adsorption rod holder 42. After the adsorption is completed, the magnetic adsorption laminated frame 2 is lifted by controlling the screw rod lifting mechanism 43, the magnetic adsorption laminated frame 2 is sent out of the range of the conveying bed 1 by controlling the electric push rod 44 to elongate, and then the magnetic adsorption laminated frame 2 is rotated along the direction of the assembly line by controlling the rotating mechanism 45. After it is rotated to the appropriate angle, the magnetic adsorption laminated frame 2 is hung on the horizontal support 6 of the transport robot 3 by controlling the electric push rod 44 to continue to elongate. After the hanging is completed, the electromagnetic switch is turned off, so that the magnetic adsorption laminated frame 2 stays on the horizontal support 6 of the transport robot 3.

[0064] The whole process uses the first visual detector and the second visual detector to judge the relative positions of the magnetic adsorption rod holder 42 and other parts, to guide the alignment, adsorption, movement, rotation and hanging of the magnetic adsorption laminated frame 2. The transport robot 3 is provided with a weight sensor, and after the weight sensor detects the weight of the transport robot 3 hanging a predetermined number of magnetic adsorption laminated frames 2, the transport robot 3 can leave automatically, and the next empty transport robot 3 enters under the control of the system.

[0065] When the magnetic lamination frame 2 is placed, the transport robot 3 provided with the magnetic lamination frame 2 enters the range of the taking and placing system, the relative position of the magnetic lamination frame 2 and the magnetic rod frame 42 is determined through the first visual detector and the second visual detector, and the magnetic lamination frame 2 is started to be aligned with the electromagnetic point on the magnetic rod frame 42 through the control of the rotating mechanism 45, the electric push rod 44 and the screw lifting mechanism 43, when all the points are aligned, the magnetic lamination frame 2 is adsorbed to the magnetic rod frame 42 by controlling the electromagnetic switch to be opened, whether the adsorption is completed is determined through the built-in magnetic inductor of the magnetic rod frame 42, when the adsorption is completed, the magnetic lamination frame 2 is lifted through the control of the screw lifting mechanism 43, the magnetic lamination frame 2 is rotated to a horizontal angle through the control of the rotating mechanism 45, the magnetic lamination frame 2 is retracted through the control of the electric push rod 44, and the magnetic lamination frame 2 is finally aligned to the periphery of the photovoltaic module 01 of the conveying bed 1 through the determination of the first visual detector and the second visual detector, when the magnetic lamination frame 2 is completely attached to the periphery of the photovoltaic module 01, the placing is completed, and when the magnetic lamination frame 2 on the horizontal support 6 of the transport robot 3 is taken away, the next transport robot 3 is automatically introduced into the system.

[0066] In summary, the photovoltaic module lamination frame taking and placing system provided by the utility model needs only to lift, translate and rotate to complete three basic actions, the taking and placing speed of the whole system to the magnetic lamination frame 2 can far exceed the manual speed, and the risk of deformation of the magnetic lamination frame 2 is minimized, the automatic placement and removal of the magnetic lamination frame 2 can be realized, more than two workers can be saved in one lamination production line, the labor cost is reduced, the cost of transporting the magnetic lamination frame 2 is greatly simplified from the aspects of materials, space and complexity, and the cost of taking and placing the magnetic lamination frame 2 is fundamentally saved, and the loss in the production process is reduced.

[0067] It should be noted that, in the present specification, the relationship terms such as first and second are only used to distinguish one entity from another entity, and do not necessarily require or imply any actual relationship or order between the entities.

[0068] The various embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between various embodiments can be referred to each other.

[0069] The above has carried out the detailed introduction to the photovoltaic module laminating frame taking and placing system provided by the utility model. The principle and implementation mode of the utility model are described by applying specific examples in this paper, and the above embodiment description is only used for helping to understand the method and core idea of the utility model. It should be pointed out that, for ordinary skilled person in the art, without departing from the principle of the utility model, the utility model can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the utility model claim.

Claims

1. A photovoltaic module lamination frame pick and place system characterized by, The application relates to a photovoltaic module conveying device. The conveying device comprises a rack (41) and a lifting and rotating device arranged on the rack (41), the lifting and rotating device is connected with the control device, the lifting and rotating device is connected with a magnetic rod frame (42), and the lifting and rotating device drives the magnetic rod frame (42) to lift, translate and rotate. The magnetic rod frame (42) is provided with a magnetic point corresponding to a magnetic point of the magnetic lamination frame (2), the magnetic rod frame (42) is provided with a magnetic sensor for detecting the adsorption of the magnetic point and the magnetic point, and the magnetic sensor is connected with the control device. The magnetic lamination frame (2) is rectangular, and the two side edges of the magnetic lamination frame (2) are provided with outwardly extending round corners, the round corners are embedded with iron blocks to form the magnetic points. The magnetic lamination frame (2) is rectangular, and the two side edges of the magnetic lamination frame (2) are provided with outwardly extending round corners, the round corners are embedded with iron blocks to form the magnetic points.

2. The photovoltaic module lamination frame pick-and-place system of claim 1, wherein, The lifting and rotating device comprises a screw rod lifting mechanism (43), an electric push rod (44) and a rotating mechanism (45), the screw rod lifting mechanism (43) is arranged on the rack (41) and extends along the height direction of the rack (41), the screw rod lifting mechanism (43) is located on one side of the conveying bed (1), one end of the electric push rod (44) is connected with the screw rod lifting mechanism (43) and drives the electric push rod (44) to move along the height direction of the rack (41), the other end of the electric push rod (44) is connected with the rotating mechanism (45), the electric push rod (44) drives the rotating mechanism (45) to move along the length direction of the electric push rod (44), the rotating mechanism (45) is connected with the magnetic rod frame (42) and drives the magnetic rod frame (42) to rotate.

3. The photovoltaic module lamination frame pick-and-place system of claim 2, wherein, The rack (41) is provided with a visual detection device (46), the visual detection device (46) detects the relative position of the magnetic rod frame (42) and the magnetic lamination frame (2) in real time and sends the detection signal to the control device.

4. The photovoltaic module lamination frame pick and place system of claim 3, wherein, ​ 5. The photovoltaic module lamination frame pick and place system of claim 4, wherein, ​ 6. The photovoltaic module lamination frame pick and place system of claim 2, wherein, ​ 7. The photovoltaic module lamination frame pick and place system of claim 6, wherein, ​ 8. The photovoltaic module lamination frame pick and place system of claim 7, wherein, The visual detection device (46) comprises a first visual detector and a second visual detector, the first visual detector is arranged on the lead screw lifting mechanism (43) and can move up and down with the lead screw lifting mechanism (43), and the second visual detector is arranged on the top of the rack (41).

9. The photovoltaic module lamination frame pick and place system of claim 8, wherein, The rack (41) comprises a first support frame and a second support frame symmetrically arranged on both sides of the conveying bed (1), and the first support frame and the second support frame are detachably connected through buckles (5).

10. The photovoltaic module lamination frame pick and place system of any of claims 1-9, wherein, The transport robot (3) comprises a robot body having a controller for controlling the movement of the robot body, the controller is signal connected with the control device, a horizontal support (6) for storing the magnetic suction laminated frame (2) is arranged on the robot body, a weight sensor for detecting the weight of the magnetic suction laminated frame (2) on the horizontal support (6) is arranged in the robot body, and the weight sensor is signal connected with the controller.

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