Photovoltaic panel assembly stacking device

Abstract

The utility model relates to a photovoltaic panel assembly stacking device. The photovoltaic panel assembly stacking device comprises a transferring mechanism, a sucking and overturning mechanism, a first driving mechanism and a first position detecting mechanism. Wherein the holding turnover mechanism can releasably hold a photovoltaic module, the transfer mechanism comprises a mounting seat capable of moving in a first direction, a second direction and a third direction, and the first driving mechanism is arranged on the mounting seat and is in driving connection with the holding turnover mechanism so as to drive the holding turnover mechanism to rotate around a first rotation axis; the first rotation axis is a straight line which penetrates through the first driving mechanism and is perpendicular to the third direction. The first position detection mechanism comprises a detection module arranged on the mounting base and an induction module arranged on the sucking and overturning mechanism, and the detection module is used for detecting the position of the induction module, so that the sucking and overturning mechanism can be stacked when rotating to a preset position around a first rotating axis more accurately; and the occurrence of the conditions of collision and irregular stacking in the stacking process due to the fact that the suction turnover mechanism is not rotated in place is reduced.

Description

Technical Field

[0001] This disclosure relates to the field of photovoltaic panel stacking technology, and more specifically, to a photovoltaic panel module stacking device. Background Technology

[0002] During the production and processing of photovoltaic (PV) panels, the assembled PV panels need to be stacked to facilitate subsequent transportation and handling. Depending on different needs, the current stacking methods mainly include horizontal stacking and vertical stacking. Stacking equipment is usually required for stacking. However, if the execution end of the stacking equipment (such as the suction and flipping frame of the stacking equipment) does not flip properly during the stacking process, it can easily cause the PV panels to bump and collide or become unevenly stacked. Utility Model Content

[0003] The purpose of this disclosure is to provide a photovoltaic panel stacking device that enables the holding and flipping mechanism to flip more accurately to a preset position, thereby reducing the occurrence of collisions and uneven stacking during the photovoltaic panel stacking process.

[0004] To achieve the above objectives, this disclosure provides a photovoltaic panel module stacking device, comprising:

[0005] The transfer mechanism includes a mounting base capable of moving in a first direction, a second direction, and a third direction, wherein the third direction is a vertical direction;

[0006] A suction and flipping mechanism for releasably holding photovoltaic panel modules;

[0007] A first driving mechanism is disposed on the mounting base and drivenly connected to the suction and flipping mechanism to drive the suction and flipping mechanism to rotate around a first rotation axis, wherein the first rotation axis is perpendicular to the third direction straight line;

[0008] The first position detection mechanism includes a detection module disposed on the mounting base and a sensing module disposed on the holding and flipping mechanism. The detection module is used to detect the position of the sensing module in order to detect the position of the holding and flipping mechanism relative to the mounting base.

[0009] Optionally, the detection module includes a plurality of detectors circumferentially spaced on the mounting base around the first rotation axis, and the sensing module includes a trigger element disposed on the suction and flipping mechanism and rotating with the suction and flipping mechanism around the first rotation axis, and the plurality of detectors are used to detect the position of the trigger element.

[0010] Optionally, the detector is configured as a first slotted photoelectric switch, and the trigger is configured as a first sensing element that cooperates with the first slotted photoelectric switch.

[0011] Optionally, the suction and flipping mechanism includes a suction and flipping frame and a plurality of suction cups disposed on the suction and flipping frame. The first driving mechanism is driven and connected to the suction and flipping frame, and the plurality of suction cups are used to releasably hold the photovoltaic panel assembly.

[0012] Optionally, the first drive mechanism includes a first servo motor and a first reducer disposed on the mounting base, the input shaft of the first reducer is connected to the first servo motor, the output shaft of the first reducer is connected to the suction and flipping frame, and the first rotation axis is the pivot axis of the output shaft of the first reducer.

[0013] Optionally, the transfer mechanism further includes:

[0014] frame;

[0015] X-axis transfer includes an X-axis track, which is fixed on the frame and extends along the first direction;

[0016] Y-axis transfer includes a Y-axis track, which is movably disposed on the X-axis track along the first direction and extends along the second direction;

[0017] Z-axis transfer includes a Z-axis track, which is movably disposed on the Y-axis track along the second direction and extends along the third direction; and

[0018] A second drive mechanism is located on the Z-axis track and is driven to drive the mounting base to rotate around a second rotation axis, which is parallel to the third axis.

[0019] Optionally, the second drive mechanism includes a second servo motor and a second reducer disposed on the Z-axis track. The input shaft of the second reducer is connected to the second servo motor, the output shaft of the second reducer is connected to the mounting base, and the second rotation axis is the pivot axis of the output shaft of the second reducer.

[0020] Optionally, the X-axis transfer further includes a third drive mechanism, a first gear, a first rack, and a first sliding seat movably disposed on the X-axis track along a first direction. The Y-axis track is disposed on the first sliding seat, the first rack extends along the first direction and is disposed on the X-axis track, the first gear meshes with the first rack, and the third drive mechanism is disposed on the first sliding seat and drivenly connected to the first gear, for driving the first gear to pivot and rotate, so as to use the first sliding seat to move along the first direction on the X-axis track.

[0021] Optionally, the Y-axis transfer further includes a fourth drive mechanism, a second gear, a second rack, and a second sliding seat movably disposed on the Y-axis track along a second direction. The Z-axis track is disposed on the second sliding seat, the second rack extends along the second direction and is disposed on the Y-axis track, the second gear meshes with the second rack, and the fourth drive mechanism is disposed on the second sliding seat and drivenly connected to the second gear, for driving the second gear pivot to rotate, so that the second sliding seat moves along the second direction on the Y-axis track.

[0022] Optionally, the Z-axis transfer further includes a fifth drive mechanism, a third gear, and a third rack. The Z-axis track is movably disposed on the second sliding seat along the third direction. The third rack extends along the third direction and is disposed on the Z-axis track. The third rack meshes with the third rack. The fifth drive mechanism is disposed on the second sliding seat and drivenly connected to the third gear, for driving the third gear to pivot and for driving the Z-axis track to move relative to the second sliding seat along the third direction.

[0023] Through the above technical solution, the holding and flipping mechanism can releasably hold photovoltaic panel modules. The mounting base in the transfer mechanism drives the holding and flipping mechanism to move upward in the first, second, and third directions, so as to transfer the photovoltaic panel modules to the stacking position. The first driving mechanism located on the mounting base is driven by the holding and flipping mechanism to drive the holding and flipping mechanism to rotate around the first rotation axis, thereby causing the photovoltaic panel modules to flip, so that the photovoltaic panel modules can be in a horizontal or vertical state, and the photovoltaic panel modules can switch between horizontal and vertical states to realize horizontal and vertical stacking of photovoltaic panel modules. By detecting the position of the sensing module through the detection module in the first position detection mechanism, the holding and flipping mechanism can be stacked when it rotates around the first rotation axis to a preset position, thereby achieving more accurate stacking and reducing the occurrence of collisions and uneven stacking of photovoltaic panel modules during the stacking process due to the holding and flipping mechanism not rotating to the correct position.

[0024] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0025] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0026] Figure 1 This is a schematic diagram of the structure of the photovoltaic panel stacking device provided in an exemplary embodiment of this disclosure;

[0027] Figure 2This is a schematic diagram of the structure of the Z-axis track, mounting base, first position detection mechanism, and suction and flipping mechanism provided in the exemplary embodiments of this disclosure;

[0028] Figure 3 This is provided in the exemplary embodiments of this disclosure. Figure 2 A partial schematic diagram of position C in the middle;

[0029] Figure 4 This is a top view of the photovoltaic panel stacking device provided in an exemplary embodiment of this disclosure;

[0030] Figure 5 This is a partial schematic diagram of position D provided in an exemplary embodiment of this disclosure;

[0031] Figure 6 This is a schematic diagram of the structure of a photovoltaic panel stacking device from another perspective provided in an exemplary embodiment of this disclosure;

[0032] Figure 7 This is provided in the exemplary embodiments of this disclosure. Figure 6 A partial schematic diagram of position E in the middle;

[0033] Figure 8 This is provided in the exemplary embodiments of this disclosure. Figure 6 A partial schematic diagram of position F in the middle;

[0034] Figure 9 This is a structural schematic diagram from another perspective of the photovoltaic panel stacking device provided in an exemplary embodiment of this disclosure;

[0035] Figure 10 This is provided in the exemplary embodiments of this disclosure. Figure 9 A schematic diagram of the structure at position G in the middle.

[0036] Explanation of reference numerals in the attached figures

[0037] 10-Transfer mechanism; 11-Frame; 12-X-axis transfer; 121-X-axis track; 121a-First guide rail; 122-First sliding block; 122a-First slider; 123-Third drive mechanism; 123a-Third servo motor; 123b-Third reducer; 124-First gear; 125-First rack; 13-Y-axis transfer; 131-Y-axis track; 131a-Second guide rail; 132-Second sliding block; 132a-Second slider; 132b-Third slider; 133-Fourth drive mechanism; 133a - Fourth servo motor; 133b - Fourth reducer; 134 - Second rack; 135 - Second gear; 14 - Z-axis transfer; 141 - Z-axis track; 141a - Third guide rail; 142 - Fifth drive mechanism; 142a - Fifth servo motor; 142b - Fifth reducer; 143 - Third gear; 144 - Third rack; 15 - Second drive mechanism; 151 - Second servo motor; 152 - Second reducer; 16 - Mounting base; 20 - Holding and flipping mechanism; 21 - Holding and flipping frame; 21a - Flipping 22-Hook cup; 30-First drive mechanism; 31-First servo motor; 32-First reducer; 40-First position detection mechanism; 41-Detection module; 411-Detector; 4110-First slotted photoelectric switch; 4110a-Left first slotted photoelectric switch; 4110b-Middle first slotted photoelectric switch; 4110c-Right first slotted photoelectric switch; 42-Sensing module; 421-Trigger element; 4210-First sensing element; 50-Second position detection mechanism; 51-Second slotted photoelectric switch 52-Second sensing element; 60-Third position detection mechanism; 61-Third slotted photoelectric switch; 62-Third sensing element; 70-Fourth position detection mechanism; 71-Fourth sensing element; 72-Fourth slotted photoelectric switch; 80-Photovoltaic panel assembly; 90-Fifth position detection mechanism; 91-Fifth sensing element; 92-Fifth slotted photoelectric switch; 92a-Left fifth slotted photoelectric switch; 92b-Right fifth slotted photoelectric switch; 92c-Middle fifth slotted photoelectric switch; A-First rotation axis; B-Second rotation axis. Detailed Implementation

[0038] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0039] For ease of description, an XYZ coordinate system is defined for the photovoltaic panel stacking device, where the X direction is the first direction, the Y direction is the second direction, and the Z direction is the third direction. The side pointed to by the Z-direction arrow is up, and vice versa. Unless otherwise stated, directional terms such as "inner" and "outer" refer to the inner and outer contours of the component or structure itself. Terms like "first" and "second" are used to distinguish one element from another and do not indicate sequence or importance. Furthermore, in the description referring to the accompanying drawings, the same reference numerals in different drawings denote the same element.

[0040] In the production and processing of photovoltaic (PV) panels, assembled PV panels need to be stacked for convenient transportation and handling. Depending on the specific requirements, current stacking methods mainly include horizontal stacking and vertical stacking. Currently, stacking devices are commonly used to stack PV panels, enabling both horizontal and vertical stacking. However, during the stacking process, if the actuator of the stacking device (e.g., the suction and flipping frame) fails to flip properly, it can easily cause collisions and uneven stacking of the PV panels. For example, when stacking PV panels horizontally, if the actuator (e.g., the suction and flipping frame) fails to flip properly, the PV panels held by the frame will be tilted relative to the horizontal direction. During stacking, the corners of adjacent PV panels are easily bumped, potentially damaging the PV panels. Similarly, when photovoltaic (PV) panels are stacked vertically, if the stacking device's actuator (e.g., the gripping and flipping frame) fails to rotate properly, the PV panels held by the gripping and flipping frame will be tilted relative to the vertical direction. During stacking, the corners of adjacent PV panels are easily bumped and damaged. Furthermore, an incomplete rotation of the stacking device's actuator (e.g., the gripping and flipping frame) can also lead to uneven stacking.

[0041] Based on the above technical issues, such as Figures 1 to 10As shown, this disclosure provides a photovoltaic panel module 80 stacking device, which includes a transfer mechanism 10, a holding and flipping mechanism 20, a first driving mechanism 30, and a first position detection mechanism 40. The holding and flipping mechanism 20 can releasably hold the photovoltaic panel module 80. The transfer mechanism 10 includes a mounting base 16 movable in a first direction, a second direction, and a third direction, with the third direction being vertical. The first driving mechanism 30 is disposed on the mounting base 16 and drivenly connected to the holding and flipping mechanism 20 to drive the holding and flipping mechanism 20 to rotate around a first rotation axis A. The first rotation axis A is perpendicular to the third direction. With the above configuration, the mounting base 16 in the transfer mechanism 10 can move the suction and flipping mechanism 20 to the side of the photovoltaic panel assembly 80 that needs to be stacked, so as to adsorb the photovoltaic panel assembly 80 through the suction and flipping mechanism 20; the mounting base 16 of the transfer mechanism 10 can also move the suction and flipping mechanism 20 to the side of the stacking position of the photovoltaic panel assembly 80, so as to complete the stacking of the photovoltaic panel assembly 80 through the suction and flipping mechanism 20. In addition, the first driving mechanism 30 can drive the suction and flipping mechanism 20 to rotate around the first rotation axis A, so as to flip the photovoltaic panel assembly 80 held by the suction and flipping mechanism 20, so that the photovoltaic panel assembly 80 can be in a horizontal state and a vertical state, and the photovoltaic panel assembly 80 can switch between the horizontal state and the vertical state. This allows the photovoltaic panel assembly 80 stacking device to achieve both vertical and horizontal stacking of the photovoltaic panel assembly 80.

[0042] In the above implementation methods, such as Figure 3 As shown, the first position detection mechanism 40 includes a detection module 41 disposed on the mounting base 16 and a sensing module 42 disposed on the suction and flipping mechanism 20. The detection module 41 is used to detect the position of the sensing module 42, thereby detecting the position of the suction and flipping mechanism 20 relative to the mounting base. This allows the suction and flipping mechanism 20 to rotate more accurately around the first rotation axis A to the preset position for stacking, thereby achieving more accurate stacking and reducing the occurrence of bumps and uneven stacking during the stacking process due to the suction and flipping mechanism 20 not rotating to the correct position.

[0043] It should be understood that the photovoltaic panel stacking device also includes a controller (not shown). The detection module 41 and sensing module 42 in the first drive mechanism 30 and the first position detection mechanism 40 can all be communicatively connected to the controller. The controller can control the operation of the first drive mechanism 30 according to the feedback signal from the first angle detection mechanism. For example, the controller can control the first drive mechanism 30 to drive the suction and flipping mechanism 20 to rotate around the first rotation axis A to a preset position according to the feedback signal from the first angle detection mechanism. Stacking is then performed after the suction and flipping mechanism 20 has moved to the preset position. The controller can be a PLC controller, which will not be elaborated here.

[0044] In some implementations, such as Figure 3 As shown, the detection module 41 includes a plurality of detectors 411 arranged circumferentially at intervals around the first rotation axis A on the mounting base 16, and the sensing module 42 includes a trigger 421 disposed on the suction and flipping mechanism 20 and rotating with the suction and flipping mechanism 20 around the first rotation axis A. The plurality of detectors 411 are used to detect the position of the trigger 421, thereby realizing the detection of the position of the suction and flipping mechanism 20 rotating around the first rotation axis A.

[0045] In the above embodiment, multiple detectors 411 and triggers 421 cooperate with each other. The holding and flipping mechanism 20 drives the triggers 421 to rotate. When the triggers 421 rotates to different positions, different detectors 411 will be triggered, thereby realizing the detection of the position of the triggers 421. The position of the holding and flipping mechanism 20 rotating around the first rotation axis A can be detected by the triggers 421 and multiple detectors 411.

[0046] In some embodiments, the detector 411 and the trigger 421 can be configured in any suitable form according to actual needs. For example, the detector 411 can be constructed as a first slotted photoelectric switch 4110, and the trigger 421 can be constructed as a first sensing element 4210 that cooperates with the first slotted photoelectric switch 4110. As the holding and flipping mechanism 20 rotates, the first sensing element 4210 can sequentially pass through the sensing areas of multiple first slotted photoelectric switches 4110 to trigger the corresponding first slotted photoelectric switches 4110. Through the multiple first slotted photoelectric switches 4110 provided on the mounting base 16 and the first sensing element 4210 provided on the holding and flipping mechanism 20, the position of the holding and flipping mechanism 20 rotating around the first rotation axis A can be detected.

[0047] In some embodiments, the holding and flipping mechanism 20 may include a horizontal stacking position and a vertical stacking position. The horizontal stacking position is the position of the holding and flipping mechanism 20 relative to the mounting base 16 when the photovoltaic panel assembly 80 held by the holding and flipping mechanism 20 is in a horizontal state; the vertical stacking position is the position of the holding and flipping mechanism 20 relative to the mounting base 16 when the photovoltaic panel assembly 80 held by the holding and flipping mechanism 20 is in a vertical state. When the photovoltaic panel assembly 80 stacking device needs to perform horizontal stacking of the photovoltaic panel assembly 80, the holding and flipping mechanism 20 is in the horizontal stacking position; when the photovoltaic panel assembly 80 stacking device needs to perform vertical stacking, the holding and flipping mechanism 20 is in the vertical stacking position.

[0048] like Figure 3As shown, three first slotted photoelectric switches 4110 can be provided. These three first slotted photoelectric switches 4110 can be defined as the left first slotted photoelectric switch 4110a, the middle first slotted photoelectric switch 4110b, and the right first slotted photoelectric switch 4110c, respectively. When the holding and flipping mechanism 20 is in the horizontal stacking position, the first sensing element 4210 is located in the sensing area of ​​the middle first slotted photoelectric switch 4110b, enabling the detection of the position of the holding and flipping mechanism 20. This allows the holding and flipping mechanism 20 to rotate more precisely around the first rotation axis A to the horizontal stacking position, thereby achieving more precise horizontal stacking of the photovoltaic panel assembly 80. When the holding and flipping mechanism 20 is in the vertical stacking position, the first sensing element 4210 is located in the sensing area of ​​the right first slotted photoelectric switch 4110c, enabling the detection of the position of the holding and flipping mechanism 20. This allows the holding and flipping mechanism 20 to rotate more precisely around the first rotation axis A to the vertical stacking position, thereby achieving more precise vertical stacking of the photovoltaic panel assembly 80. The left first slot-shaped photoelectric switch 4110a can be used in conjunction with the first sensing element 4210 and can also be used to limit the rotation of the holding and flipping mechanism 20. That is, when the right first slot-shaped photoelectric switch 4110c detects the first sensing element 4210, it feeds a signal back to the controller. The controller can control the first drive mechanism 30 so that the holding and flipping mechanism 20 stops rotating in the original direction.

[0049] In some possible implementations, the right-side first slot-shaped photoelectric switch 4110c, in conjunction with the first sensor 4210, can also be used to limit the rotation of the holding and flipping mechanism 20. That is, when the right-side first slot-shaped photoelectric switch 4110c detects the first sensor 4210, it feeds a signal back to the controller, which can then control the first drive mechanism 30 to stop the holding and flipping mechanism 20 from rotating in its original direction.

[0050] In some other possible implementations, the intermediate first slot-shaped photoelectric switch 4110b cooperates with the first sensing element 4210 to calibrate the rotation position of the first drive mechanism 30. For example, after one stacking is completed, when the first drive mechanism 30 drives the suction and flipping mechanism 20 to rotate so that the first sensing piece moves to the sensing area of ​​the intermediate first slot-shaped photoelectric switch 4110b, the first drive mechanism 30 can be reset to zero to avoid deviation in the rotation angle of the first drive mechanism 30 after multiple operations.

[0051] In some implementations, such as Figure 1 and Figure 2 As shown, the suction and flipping mechanism 20 includes a suction and flipping frame 21 and a plurality of suction cups 22 disposed on the suction and flipping frame 21. A first driving mechanism 30 is connected to the suction and flipping frame 21. The plurality of suction cups 22 are used to releasably hold the photovoltaic panel assembly 80.

[0052] In some implementations, such as Figure 6 and Figure 7 As shown, the first drive mechanism 30 can be constructed in any appropriate form according to actual needs. For example, the first drive mechanism 30 includes a first servo motor 31 and a first reducer 32 disposed on the mounting base 16. The input shaft of the first reducer 32 is connected to the first servo motor 31, and the output shaft of the first reducer 32 is connected to the holding and flipping frame 21. The first rotation axis A is the pivot axis of the output shaft of the first reducer 32, so as to drive the holding and flipping frame 21 to pivot rotate through the first servo motor 31 and the first reducer 32.

[0053] In some implementations, such as Figure 7 As shown, the suction and flipping frame 21 includes two flipping uprights 21a. One of the two flipping uprights 21a is connected to the first reducer 32, and the other is rotatably connected to the mounting base 16.

[0054] When the first drive mechanism 30 includes a first servo motor 31 and a first reducer 32, such as Figure 2 , Figure 3 as well as Figure 7 As shown, the intermediate first slot-shaped photoelectric switch 4110b cooperates with the first sensing element 4210 to calibrate the rotation position of the first servo motor 31. For example, after one stacking operation, the first servo motor 31 drives the suction and flipping mechanism 20 to rotate so that the first sensing plate moves to the sensing area of ​​the intermediate first slot-shaped photoelectric switch 4110b. This allows the first servo motor 31 to be reset to zero, preventing deviations in its rotation angle after multiple runs. Furthermore, the intermediate first slot-shaped photoelectric switch 4110b can be the initial position of the first slot-shaped photoelectric switch 4110. When the first sensing element 4210 is in the intermediate first slot-shaped photoelectric switch 4110b, the suction and flipping frame 21 is in its initial position, which will not be elaborated further here.

[0055] In some embodiments, the transfer mechanism 10 further includes a frame 11, an X-axis transfer mechanism 12, a Y-axis transfer mechanism 13, a Z-axis transfer mechanism 14, and a second drive mechanism 15. The X-axis transfer mechanism 12 includes an X-axis track 121, which is fixed to the frame 11 and extends along a first direction. The Y-axis transfer mechanism 13 includes a Y-axis track 131, which is movably disposed on the X-axis track 121 along the first direction and extends along a second direction. The Z-axis transfer mechanism 14 includes a Z-axis track 141, which is movably disposed on the Y-axis track 131 along the second direction and extends along a third direction. Furthermore, the second drive mechanism 15 is disposed on the Z-axis track 141 and is drively connected to the mounting base 16 to drive the mounting base 16 to rotate about a second rotation axis B, which is parallel to the third direction.

[0056] As mentioned above, the suction and flipping mechanism 20 is installed on the mounting base 16. Therefore, by setting the X-axis transfer 12, Y-axis transfer 13 and Z-axis transfer 14, the mounting base 16 and the suction and flipping mechanism 20 installed on the mounting base 16 can be driven to move upward in the first direction, the second direction and the third direction, so as to transfer the photovoltaic panel module 80 to the stacking position for stacking.

[0057] Furthermore, the second drive mechanism 15 drives the mounting base 16 to rotate around the second rotation axis B, enabling the suction and flipping mechanism 20 to rotate along with the mounting base 16 around the second rotation axis B. This allows the suction and flipping mechanism 20 to rotate on a horizontal plane around the second rotation axis B, facilitating the suction of the photovoltaic panel assembly 80. For example, the photovoltaic panel assemblies 80 to be stacked may be arranged in different ways. By using the second drive mechanism 15 to rotate the suction and flipping mechanism 20 on a horizontal plane, it can be adapted to photovoltaic panel assemblies 80 with different arrangement forms, thus facilitating the suction of the photovoltaic panel assemblies 80. Of course, the above configuration also facilitates the stacking of photovoltaic panel assemblies 80, which will not be elaborated here.

[0058] In some implementations, such as Figure 7 As shown, the second drive mechanism 15 includes a second servo motor 151 and a second reducer 152 mounted on the Z-axis track 141. The input shaft of the second reducer 152 is connected to the second servo motor 151, and the output shaft of the second reducer 152 is connected to the mounting base 16. The second rotation axis B is the pivot axis of the output shaft of the second reducer 152. The second servo motor 151 drives the mounting base 16 to rotate around the second rotation axis B on the horizontal plane via the second reducer 152.

[0059] In some embodiments, the photovoltaic panel assembly 80 stacking device further includes a fifth position detection mechanism 90 for detecting the position of the mounting base 16 rotating about the second rotation axis B. The fifth position detection mechanism 90 may include a plurality of fifth slot-shaped photoelectric switches 92 spaced apart around the second rotation axis B on the Z-axis track 141, and a fifth sensing element 91 disposed on the mounting base 16. The fifth sensing element 91 rotates with the mounting base 16 and can sequentially pass through the sensing areas of the plurality of fifth slot-shaped photoelectric switches 92. Through the cooperation of the fifth sensing element 91 and the plurality of fifth slot-shaped photoelectric switches 92, the position of the mounting base 16 rotating about the second rotation axis B relative to the Z-axis in the horizontal plane can be detected.

[0060] It should be understood that the fifth slot-type photoelectric switch 92, the fifth sensing element 91, and the second servo motor 151 are all connected to the controller for communication, which will not be elaborated here.

[0061] like Figure 7 and Figure 10As shown, there can be three fifth slot photoelectric switches 92, namely, the left fifth slot photoelectric switch 92a, the right fifth slot photoelectric switch 92b, and the middle fifth slot photoelectric switch 92c. The fifth sensing element 91 rotates with the mounting base 16, allowing it to pass sequentially through the left fifth slot photoelectric switch 92a, the middle fifth slot photoelectric switch 92c, and the right fifth slot photoelectric switch 92b. The left and right fifth slot photoelectric switches 92a and 92b, in conjunction with the fifth sensing element 91, can limit the range of rotation of the mounting base 16 around the second rotation axis B. That is, when one of the left or right fifth slot photoelectric switches 92a or 92b detects the fifth sensing element 91, that fifth slot switch feeds a signal back to the controller, which then controls the second servo motor 151 to stop rotating in its original direction. The central fifth slot photoelectric switch 92c can serve as the initial position of the fifth sensor 91. When the fifth sensor 91 is located within the sensing area of ​​the central fifth slot photoelectric switch 92c, the fifth sensor 91 is in its initial position. This central fifth slot photoelectric switch 92c can also be used to calibrate the second servo motor 151. For example, when the fifth sensor 91 moves to the central fifth slot photoelectric switch 92c, the fifth servo motor 142a can be reset to zero to prevent deviations in the rotation angle of the fifth servo motor 142a after multiple runs.

[0062] In some implementations, such as Figure 1 , Figure 4 and Figure 8 As shown, the X-axis transfer 12 also includes a third drive mechanism 123, a first gear 124, a first rack 125, and a first sliding seat 122 movably disposed on the X-axis track 121 along a first direction. A Y-axis track 131 is disposed on the first sliding seat 122. The first rack 125 extends along the first direction and is disposed on the X-axis track 121. The first gear 124 meshes with the first rack 125. The third drive mechanism 123 is disposed on the first sliding seat 122 and is drivenly connected to the first gear 124 to drive the first gear 124 to pivot, so that the first sliding seat 122 moves along the first direction on the X-axis track 121.

[0063] In the above embodiment, the third drive mechanism 123 includes a third servo motor 123a and a third reducer 123b disposed on the first sliding seat 122. The third servo motor 123a is driven and connected to the third reducer 123b. The output shaft of the third reducer 123b is connected to the first gear 124. The third servo motor 123a drives the first gear 124 to rotate through the third reducer 123b, enabling the first gear 124 to move along the second rack 134 meshing with it, thereby causing the first sliding seat 122 to move along the first direction on the X-axis track 121. The Y-axis track 131 disposed on the first sliding seat 122 also moves along the first direction with the first sliding seat 122.

[0064] In addition, the X-axis track 121 includes a first guide rail 121a, and the first sliding seat 122 includes a first slider 122a. The first slider 122a is provided with a first groove. The first slider 122a is slidably connected to the first guide rail 121a through the first groove, which is used to guide the first sliding seat 122 when it moves along the first direction.

[0065] like Figure 4 and Figure 8 As shown, the photovoltaic panel assembly 80 also includes a second position detection mechanism 50 for detecting the movement position of the first sliding seat 122 along a first direction. The second position detection mechanism 50 includes three second slotted photoelectric switches 51 spaced apart along the X-axis track 121 along the first direction and a second sensing element 52 disposed on the first sliding seat 122. As the first sliding seat 122 moves in the first direction, the second sensing element 52 can sequentially move to the sensing area of ​​the three second slotted photoelectric switches 51. Both the second sensing element 52 and the three second slotted photoelectric switches 51 are communicatively connected to a controller. Two of the two outermost second slotted photoelectric switches 51 can be used to limit the movement of the second sensing element 52. When the second sensing element 52 moves to one of the two outermost second slotted photoelectric switches 51, the controller controls the second servo motor 151 to stop running in its original direction to limit the movement of the second sensing element 52, thereby limiting the movement of the first sliding seat 122. The middle second slot photoelectric switch 51 among the three second slot photoelectric switches 51 can be the initial second slot photoelectric switch 51. When the second sensing element 52 is in the position of the second slot photoelectric switch 51, the first sliding seat 122 is in the initial position. The first sliding seat 122 can be in the initial position before stacking begins or after one stacking is completed.

[0066] In some implementations, such as Figure 1 and Figure 5As shown, the Y-axis transfer mechanism 13 also includes a fourth drive mechanism 133, a second gear 135, a second rack 134, and a second sliding seat 132 movably disposed on the Y-axis track 131 along the second direction. The Z-axis track 141 is disposed on the second sliding seat 132. The second rack 134 extends along the second direction and is disposed on the Y-axis track 131. The second gear 135 meshes with the second rack 134. The fourth drive mechanism 133 is disposed on the second sliding seat 132 and is drivenly connected to the second gear 135 to drive the second gear 135 to pivot, so that the second sliding seat 132 moves along the second direction on the Y-axis track 131.

[0067] In the above embodiment, the fourth drive mechanism 133 includes a fourth servo motor 133a and a fourth reducer 133b disposed on the second sliding seat 132. The fourth servo motor 133a is driven and connected to the fourth reducer 133b. The output shaft of the fourth reducer 133b is connected to the second gear 135. The fourth servo motor 133a drives the second gear 135 to rotate through the fourth reducer 133b, enabling the second gear 135 to move along the second rack 134 meshing with it, thereby causing the second sliding seat 132 to move along the second direction on the Y-axis track 131. The Z-axis track 141 disposed on the second sliding seat 132 also moves along the second direction with the second sliding seat 132.

[0068] In addition, the Y-axis track 131 includes a second guide rail 131a, and the second sliding seat 132 includes a second slider 132a. The second slider 132a is provided with a second sliding groove. The second slider 132a is slidably connected to the second guide rail 131a through the second sliding groove, which is used to guide the second sliding seat 132 when it moves in the second direction.

[0069] like Figure 5As shown, the photovoltaic panel assembly 80 also includes a third position detection mechanism 60 for detecting the movement position of the first sliding seat 122 along the second direction. The third position detection mechanism 60 includes three third slotted photoelectric switches 61 spaced apart along the Y-axis track 131 in the second direction and a third sensing element 62 disposed on the second sliding seat 132. As the second sliding seat 132 moves in the second direction, the third sensing element 62 can sequentially move to the sensing area of ​​the three third slotted photoelectric switches 61. Both the third sensing element 62 and the three third slotted photoelectric switches 61 are communicatively connected to a controller. Two of the two outermost third slotted photoelectric switches 61 can be used to limit the movement of the third sensing element 62. When the third sensing element 62 moves to one of the two outermost third slotted photoelectric switches 61, the controller controls the third servo motor 123a to stop running in its original direction to limit the movement of the third sensing element 62, thereby limiting the movement of the second sliding seat 132. The middle third-slot photoelectric switch 61 among the three third-slot photoelectric switches 61 can be the initial third-slot photoelectric switch 61. When the third sensing element 62 is in the position of the third-slot photoelectric switch 61, the second sliding seat 132 is in the initial position. The second sliding seat 132 can be in the initial position before stacking begins or after one stacking is completed.

[0070] In some implementations, such as Figure 1 and Figure 2 As shown, the Z-axis transfer 14 also includes a fifth drive mechanism 142, a third gear 143, and a third rack 144. The Z-axis track 141 is movably disposed on the second sliding seat 132 along a third direction. The third rack 144 extends along a third direction and is disposed on the Z-axis track 141. The third gear 143 meshes with the third rack 144. The fifth drive mechanism 142 is disposed on the second sliding seat 132 and is drivenly connected to the third gear 143 to drive the third gear 143 to pivot and rotate, so that the Z-axis track 141 moves relative to the second sliding seat 132 along a third direction.

[0071] In the above embodiment, the fifth drive mechanism 142 includes a fifth servo motor 142a and a fifth reducer 142b disposed on the second sliding seat 132. The fifth servo motor 142a is driven and connected to the fifth reducer 142b. The output shaft of the fifth reducer 142b is connected to the third gear 143. The fifth servo motor 142a drives the third gear 143 to rotate through the fifth reducer 142b, which enables the Z-axis to move relative to the track in a third direction.

[0072] In addition, the Z-axis track 141 includes a third guide rail 141a, and the second sliding seat 132 includes a third slider 132b. The third slider 132b is provided with a third sliding groove. The third slider 132b is slidably connected to the third guide rail 141a through the third sliding groove, which is used to guide the Z-axis track 141 when it moves relative to the second sliding seat 132 in a third direction.

[0073] like Figure 1 , Figure 2 and Figure 5 As shown, the photovoltaic panel assembly 80 also includes a fourth position detection mechanism 70 for detecting the movement position of the Z-axis track 141 along a third direction. The fourth position detection mechanism 70 includes three fourth slot-shaped photoelectric switches 72 spaced apart along the Z-axis track 141 and a fourth sensing element 71 mounted on the second sliding seat 132. As the Z-axis track 141 moves in the third direction, the three third slot-shaped photoelectric switches 72 sequentially pass through the fourth sensing element 71. Both the fourth sensing element 71 and the three fourth slot-shaped photoelectric switches 72 are communicatively connected to the controller. The two fourth slot-shaped photoelectric switches 72 on either side of the three fourth slot-shaped photoelectric switches 72 can be used to limit the movement of the Z-axis track 141 along the third direction. When one of the two fourth slot-shaped photoelectric switches 72 on either side moves to the fourth slot-shaped photoelectric switch 72, the controller controls the fourth servo motor 133a to stop running in its original direction, thereby limiting the movement of the Z-axis track 141. The middle fourth slot photoelectric switch 72 among the three fourth slot photoelectric switches 72 can be the initial fourth slot photoelectric switch 72. When the fourth sensing element 71 is in the fourth slot photoelectric switch 72, the Z-axis track 141 is in the initial position. The Z-axis track 141 can be in the initial position before the stacking begins or after one stacking is completed.

[0074] This disclosure exemplarily describes the processes of horizontal and vertical stacking of the photovoltaic panel assembly 80. For example... Figures 1 to 10 As shown, when horizontal stacking is required, the controller controls the X-axis transfer 12, Y-axis transfer 13, and Z-axis transfer 14 to move the mounting base 16 to move the suction and flipping frame 21 next to the photovoltaic panel assembly 80 to be stacked. The suction cups 22 on the suction and flipping frame 21 hold the photovoltaic panel assembly 80 to be stacked. The controller controls the X-axis transfer 12, Y-axis transfer 13, and Z-axis transfer 14 to move the mounting base 16 to move the suction and flipping frame 21 to the stacking position. The first servo motor 31 drives the suction and flipping frame 21 to rotate around the first rotation axis A to the horizontal stacking position, thus horizontally stacking the photovoltaic panel assembly 80.

[0075] When vertical stacking is required, the controller controls the X-axis transfer 12, Y-axis transfer 13, and Z-axis transfer 14 to move the mounting base 16 to the side of the photovoltaic panel assembly 80 to be stacked, where the suction cups 22 on the suction cups 21 hold the photovoltaic panel assembly 80. The controller controls the X-axis transfer 12, Y-axis transfer 13, and Z-axis transfer 14 to move the mounting base 16 to the side of the stacking position. The first servo motor 31 drives the suction cups 21 to rotate around the first rotation axis A to the vertical stacking position, thus horizontally stacking the photovoltaic panel assembly 80.

[0076] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0077] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0078] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A photovoltaic panel module stacking device, characterized in that, include: The transfer mechanism includes a mounting base capable of moving in a first direction, a second direction, and a third direction, wherein the third direction is a vertical direction; A suction and flipping mechanism for releasably holding photovoltaic panel modules; A first driving mechanism is disposed on the mounting base and drivenly connected to the suction and flipping mechanism to drive the suction and flipping mechanism to rotate around a first rotation axis, the first rotation axis being perpendicular to the third direction; The first position detection mechanism includes a detection module disposed on the mounting base and a sensing module disposed on the holding and flipping mechanism. The detection module is used to detect the position of the sensing module in order to detect the position of the holding and flipping mechanism relative to the mounting base.

2. The photovoltaic panel stacking device according to claim 1, characterized in that, The detection module includes a plurality of detectors circumferentially spaced on the mounting base around the first rotation axis, and the sensing module includes a trigger element disposed on the suction and flipping mechanism and rotating around the first rotation axis with the suction and flipping mechanism. The plurality of detectors are used to detect the position of the trigger element.

3. The photovoltaic panel stacking device according to claim 2, characterized in that, The detector is constructed as a first slotted photoelectric switch, and the trigger is constructed as a first sensing element that cooperates with the first slotted photoelectric switch.

4. The photovoltaic panel module stacking device according to claim 1, characterized in that, The suction and flipping mechanism includes a suction and flipping frame and a plurality of suction cups disposed on the suction and flipping frame. The first driving mechanism is driven and connected to the suction and flipping frame, and the plurality of suction cups are used to releasably hold the photovoltaic panel assembly.

5. The photovoltaic panel stacking device according to claim 4, characterized in that, The first drive mechanism includes a first servo motor and a first reducer disposed on the mounting base. The input shaft of the first reducer is connected to the first servo motor, and the output shaft of the first reducer is connected to the suction and flipping frame. The first rotation axis is the pivot axis of the output shaft of the first reducer.

6. The photovoltaic panel module stacking device according to any one of claims 1 to 5, characterized in that, The transfer mechanism further includes: frame; X-axis transfer includes an X-axis track, which is fixed on the frame and extends along the first direction; Y-axis transfer includes a Y-axis track, which is movably disposed on the X-axis track along the first direction and extends along the second direction; Z-axis transfer includes a Z-axis track, which is movably disposed on the Y-axis track along the second direction and extends along the third direction; and A second drive mechanism is located on the Z-axis track and is driven to drive the mounting base to rotate around a second rotation axis, which is parallel to the third axis.

7. The photovoltaic panel module stacking device according to claim 6, characterized in that, The second drive mechanism includes a second servo motor and a second reducer mounted on the Z-axis track. The input shaft of the second reducer is connected to the second servo motor, and the output shaft of the second reducer is connected to the mounting base. The second rotation axis is the pivot axis of the output shaft of the second reducer.

8. The photovoltaic panel module stacking device according to claim 6, characterized in that, The X-axis transfer also includes a third drive mechanism, a first gear, a first rack, and a first sliding seat movably disposed on the X-axis track along a first direction. The Y-axis track is disposed on the first sliding seat, the first rack extends along the first direction and is disposed on the X-axis track, the first gear meshes with the first rack, and the third drive mechanism is disposed on the first sliding seat and drivenly connected to the first gear, for driving the first gear pivot to rotate, so that the first sliding seat moves along the first direction on the X-axis track.

9. The photovoltaic panel stacking device according to claim 8, characterized in that, The Y-axis transfer also includes a fourth drive mechanism, a second gear, a second rack, and a second sliding seat movably disposed on the Y-axis track along a second direction. The Z-axis track is disposed on the second sliding seat, the second rack extends along the second direction and is disposed on the Y-axis track, the second gear meshes with the second rack, and the fourth drive mechanism is disposed on the second sliding seat and drivenly connected to the second gear, for driving the second gear pivot to rotate, so that the second sliding seat moves along the second direction on the Y-axis track.

10. The photovoltaic panel module stacking device according to claim 9, characterized in that, The Z-axis transfer also includes a fifth drive mechanism, a third gear, and a third rack. The Z-axis track is movably disposed on the second sliding seat along the third direction. The third rack extends along the third direction and is disposed on the Z-axis track. The third rack meshes with the third rack. The fifth drive mechanism is disposed on the second sliding seat and is drivenly connected to the third gear to drive the third gear to pivot and rotate, so that the Z-axis track moves relative to the second sliding seat along the third direction.

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