Corner and edge protection mounting machine for photovoltaic module

Abstract

The utility model relates to a corner and edge protector mounting machine for a photovoltaic module. The corner and edge protector mounting machine comprises a rack; the plate feeding assembly is located on the lower layer of the rack and comprises a synchronous conveying line and four restoration mechanisms; the corner protection arranging and conveying unit and the edge protection arranging and conveying unit are arranged in the middle layer of the rack side by side and each comprise a vibration disc and a transmission line which are sequentially arranged in the left-right direction, and baffles are arranged on the two sides of the transmission line in the conveying direction; the first feeding robot and the second feeding robot are arranged on the upper layer of the rack, and each of the first feeding robot and the second feeding robot comprises a mechanical arm, a gripper support arranged at the tail end of the mechanical arm, a corner protection taking and placing assembly, an edge protection taking and placing assembly and a gripper vision mechanism arranged on the side edge of the gripper support, and the corner protection taking and placing assembly and the edge protection taking and placing assembly are arranged on the lower portion of the gripper support; the two conveying lines are each provided with a first outlet located in the operation range of the first feeding robot and a second outlet located in the operation range of the second feeding robot. According to the equipment, the trouble of stacking in the cartridge holder in advance is avoided, all angle beads and safe edges are fully covered in the assembling work, and the rhythm is reasonable.

Description

Technical Field

[0001] This utility model relates to the field of semiconductor device assembly equipment technology, and in particular to a corner and edge protection installation machine for photovoltaic modules. Background Technology

[0002] Photovoltaic modules (also called solar panels) are power generation systems that convert solar energy into electrical energy. The core components, the solar cells, are generally flat and fragile, so they need to be protected by a frame. Sometimes, corner protectors and edge protectors also need to be assembled on the frame.

[0003] Chinese patent CN208262241U discloses a planar robot corner protector installation machine. It uses a transmission device to deliver photovoltaic modules to the center of the equipment, and then uses a positioning mechanism to straighten the photovoltaic modules. Each side of the photovoltaic module's long side has a corner protector installation mechanism and two corner protector feeding mechanisms. The corner protectors are supplied vertically upwards by the corner protector feeding mechanisms. The corner protector installation mechanism includes a planar robot for transferring the corner protectors and a fixture worktable for angular positioning of the corner protectors. The planar robot first removes the corner protectors from above the corner protector feeding mechanism, places them on the fixture worktable for positioning, and then assembles the positioned corner protectors onto the corners of the photovoltaic module. Each planar robot is responsible for installing two corner protectors. However, this equipment has two shortcomings:

[0004] 1. The planar robot approaches the wide edge of the photovoltaic module, but its operating range cannot reach the middle of the long edge. It also does not have a material feeding mechanism for edge protection, so it cannot simultaneously meet the installation requirements of corner protection and edge protection.

[0005] 2. The corner protectors need to be pre-loaded into the magazine mechanism before they can be loaded onto the equipment, requiring more manpower or equipment to complete the preparation work.

[0006] Therefore, it is necessary to improve the structure of the assembly equipment to solve the above problems. Utility Model Content

[0007] The main purpose of this invention is to provide a corner and edge protection installation machine for photovoltaic modules, which eliminates the hassle of pre-loading corner and edge protections into the magazine, and also has a reasonable rhythm.

[0008] This utility model achieves the above objectives through the following technical solution: a corner and edge protection installation machine for photovoltaic modules, comprising:

[0009] frame;

[0010] The panel feeding assembly, located on the lower layer of the frame, includes a synchronous conveyor line for conveying photovoltaic modules in the front-to-back direction and four alignment mechanisms located around the synchronous conveyor line.

[0011] The corner protection arrangement conveying unit and the edge protection arrangement conveying unit are arranged side by side in the middle layer of the frame. Each of them includes a vibratory plate and a transmission line arranged sequentially in the left-right direction. Baffles are provided on both sides of the transmission line in the conveying direction.

[0012] The first and second loading robots are located on the upper layer of the frame and each includes a robotic arm, a gripper bracket at the end of the robotic arm, a corner protection picking and placing component and an edge protection picking and placing component at the lower part of the gripper bracket, and a gripper vision mechanism on the side of the gripper bracket.

[0013] Both transmission lines are equipped with a first outlet located within the operating range of the first feeding robot and a second outlet located within the operating range of the second feeding robot.

[0014] Specifically, a first sensor is provided on the side of the first exit, a second sensor is provided on the side of the second exit, and a first positioning camera and a second positioning camera are provided on the top of the frame. The first positioning camera monitors the operating range of the first loading robot, and the second positioning camera monitors the operating range of the second loading robot.

[0015] Specifically, the middle layer of the frame is also provided with four corner protection positioning platforms and one edge protection positioning platform. The four corner protection positioning platforms are respectively set near the four corner points of the photovoltaic module, and the edge protection positioning platform is located in the overlapping area of ​​the operating range of the first loading robot and the second loading robot.

[0016] Furthermore, the corner protector positioning platform includes a corner protector support plate, a first right-angle reference block disposed on the upper surface of the corner protector support plate, and a slanted push cylinder for clamping the corner protector towards the first right-angle reference block.

[0017] Furthermore, the first right-angle reference block is provided with a first positioning sensor for detecting the corner protection on the corner protection support plate. The first positioning sensor is used to guide the inclined push cylinder to start operating.

[0018] Furthermore, the edge protection positioning platform includes an edge protection support plate, a second right-angle reference block disposed on the upper surface of the edge protection support plate, and two direct-push cylinders that clamp the edge protection to the second right-angle reference block.

[0019] Furthermore, the lower part of the edge protection support plate is provided with a second positioning sensor for detecting when the edge protection falls onto the edge protection support plate. The second positioning sensor is used to guide the two direct-push cylinders to start operating.

[0020] Specifically, the corner protector picking and placing assembly includes a first fixing plate connected to the lower part of the gripper bracket, three corner protector suction cups distributed in a triangular shape at the lower part of the first fixing plate, and three corner protector pressure blocks interspersed with the corner protector suction cups.

[0021] Specifically, the edge protection pick-and-place assembly includes a lifting drive connected to the side of the gripper bracket, a second fixed plate driven to rise and fall by the lifting drive, four edge protection suction cups rectangularly distributed at the bottom of the second fixed plate, and an edge protection pressure block interspersed between the edge protection suction cups.

[0022] Specifically, the gripper vision mechanism includes a vision lens and a surface light source. The surface light source illuminates the detection area of ​​the vision lens downwards, and the center of the surface light source has an observation hole facing the vision lens.

[0023] The beneficial effects of this utility model's technical solution are:

[0024] 1. Two vibratory feeders allow the corner protectors and edge protectors to be fed in a disordered state at the beginning. The conveyor line can automatically deliver the corner protectors and edge protectors in an orderly manner, eliminating the trouble of pre-packing them in the magazine and saving manpower.

[0025] 2. Two loading robots are responsible for installing the four corner protectors and two edge protectors, ensuring that the assembly work fully covers all corner protectors and edge protectors, and the pace is reasonable. Attached Figure Description

[0026] Figure 1 A 3D view of a photovoltaic module corner and edge protection installation machine;

[0027] Figure 2 A top view of a photovoltaic module corner and edge protector mounting machine with the frame removed;

[0028] Figure 3 for Figure 2 A magnified view of a portion of position A in the middle;

[0029] Figure 4 A 3D view of the gripper bracket and its lower components;

[0030] Figure 5 A three-dimensional view of the gripper bracket and its lower components when picking up corner and edge protectors;

[0031] Figure 6 Diagram showing the working status of the corner protector positioning platform;

[0032] Figure 7 A diagram showing the working status of the edge protection positioning platform;

[0033] Figure 8 This is a 3D view of the photovoltaic modules assembled with all corner and edge protectors.

[0034] The numbers in the image represent:

[0035] 100- Photovoltaic module corner and edge protection installation machine

[0036] 1-Frame, 11-First positioning camera, 12-Second positioning camera;

[0037] 2-Panel feeding assembly, 21-Synchronous conveyor line, 22-Correcting mechanism;

[0038] 3a-Corner-protected conveyor unit, 3b-Edge-protected conveyor unit, 31-Vibrating plate, 32-Transmission line, 33-Baffle, 34a-First sensor, 34b-Second sensor;

[0039] 4a-First loading robot, 4b-Second loading robot, 41-Robotic arm, 42-Gripper bracket, 43-Corner guard pick-and-place assembly, 431-First fixing plate, 432-Corner guard suction cup, 433-Corner guard pressing block, 44-Edge guard pick-and-place assembly, 441-Lifting drive component, 442-Second fixing plate, 443-Edge guard suction cup, 444-Edge guard pressing block, 45-Gripper vision mechanism, 451-Vision lens, 452-Surface light source, 4521-Observation hole;

[0040] 5-Corner protection positioning stage, 51-Corner protection support plate, 52-First right-angle reference block, 53-Angled push cylinder, 54-First positioning sensor;

[0041] 6-Edge positioning platform, 61-Edge support plate, 62-Second right-angle reference block, 63-Direct push cylinder, 64-Second positioning sensor;

[0042] 200 - Photovoltaic modules;

[0043] 301 - Corner protector, 302 - Edge protector. Detailed Implementation

[0044] The present invention will be further described in detail below with reference to specific embodiments.

[0045] Example:

[0046] like Figure 8 As shown, there are four corner protectors 301, located at the four corners of the photovoltaic module 200; there are two edge protectors 302, which are generally located in the middle of the two long edges of the photovoltaic module 200.

[0047] like Figure 1 and Figure 2 As shown, the present invention provides a photovoltaic module corner and edge protection installation machine 100, which includes a frame 1, a plate feeding assembly 2, two arrangement conveying units (corner protection arrangement conveying unit 3a and edge protection arrangement conveying unit 3b), two feeding robots (first feeding robot 4a and second feeding robot 4b), four corner protection positioning platforms 5 and one edge protection positioning platform 6.

[0048] like Figure 1 and Figure 2As shown, the feeding assembly 2 is located on the lower layer of the frame 1. The feeding assembly 2 includes a synchronous conveying line 21 that conveys the photovoltaic modules 200 in the front-to-back direction and four alignment mechanisms 22 located around the synchronous conveying line 21.

[0049] The synchronous conveyor line 21 is used to move the photovoltaic module 200 into and out of the equipment. When installing the corner protector 301 and the edge protector 302, the photovoltaic module 200 needs to be fixed in position, which requires four alignment mechanisms 22 to move towards the center of the synchronous conveyor line 21 to complete the task.

[0050] like Figure 2 and Figure 3 As shown, the corner protector conveying unit 3a and the edge protector conveying unit 3b are arranged side by side in the middle layer of the frame 1. The corner protector conveying unit 3a conveys corner protectors 301 in the left-right direction, and the edge protector conveying unit 3b conveys edge protectors 302 in the left-right direction. The first loading robot 4a and the second loading robot 4b are located in the upper layer of the frame 1, respectively in the middle and downstream of the two conveying units. Both the corner protector conveying unit 3a and the edge protector conveying unit 3b include a vibratory feeder 31 and a transmission line 32 arranged sequentially in the left-right direction. Baffles 33 are provided on both sides of the transmission line 32 in the conveying direction. Both transmission lines 32 are provided with a first outlet within the operating range of the first loading robot 4a and a second outlet within the operating range of the second loading robot 4b. A first sensor 34a is provided on the side of the first outlet, and a second sensor 34b is provided on the side of the second outlet.

[0051] Two vibratory feeders 31 allow the corner protectors 301 and edge protectors 302 to be initially fed in a disordered state. The conveyor line 32 can automatically deliver the corner protectors 301 and edge protectors 302 in an orderly manner, eliminating the hassle of pre-packaging them in the magazine and saving manpower. The photovoltaic module 200 moves along the front-to-back direction, which means that there is space on the left or right side of the frame 1 to install the vibratory feeders 31. Figure 2 Both the corner protector conveying unit 3a and the edge protector conveying unit 3b convey materials from left to right (referring to corner protectors 301 and edge protectors 302). In practical applications, they can also convey materials from right to left, or one conveys materials to the left and the other to the right. Therefore, there is no fixed order between the first outlet and its corresponding second outlet. It is only necessary to ensure that the first outlet is within the operating range of the first loading robot 4a and the second outlet is within the operating range of the second loading robot 4b. The baffle 33 ensures that the corner protectors 301 or edge protectors 302 can only be conveyed in a single row through the transmission line 32. The two first sensors 34a respectively sense whether corner protectors 301 or edge protectors 302 have arrived at their respective first outlets, and the two second sensors 34b respectively sense whether corner protectors 301 or edge protectors 302 have arrived at their respective second outlets, thereby instructing the two loading robots to perform the material handling operation.

[0052] like Figure 2 and Figure 3 As shown, four corner protection positioning platforms 5 and one edge protection positioning platform 6 are located in the middle layer of the frame 1. The four corner protection positioning platforms 5 are respectively located near the four corner points of the photovoltaic module 200, and the edge protection positioning platform 6 is located in the overlapping area of ​​the operating range of the first loading robot 4a and the second loading robot 4b.

[0053] The first loading robot 4a and the second loading robot 4b are responsible for installing the four corner protectors 301 and the two edge protectors 302, ensuring that the assembly work fully covers all corner protectors 301 and edge protectors 302 at a reasonable pace. For layout rationality, the photovoltaic module 200 is conveyed with its short side along the front-back direction and its long side along the left-right direction. This allows each loading robot to operate within a small circular area, including the two corner points of the same wide side of the photovoltaic module 200 (the installation positions of the corner protectors 301) and the midpoint of the long side (the installation positions of the edge protectors 302). The two circular areas overlap at the edge protector positioning platform 6. Since there are only two edge protectors 302 on a photovoltaic module 200, the first loading robot 4a and the second loading robot 4b alternately use the edge protector positioning platform 6 to position the edge protectors 302. While one robot is positioning the edge protector (for a short time), the other is positioning the corner protector 301 or assembling materials (for a longer total time), so they do not interfere with each other.

[0054] like Figure 1 As shown, the top of the frame 1 is equipped with two positioning cameras (first positioning camera 11 and second positioning camera 12), wherein the first positioning camera 11 monitors the operating range of the first loading robot 4a, and the second positioning camera 12 monitors the operating range of the second loading robot 4b.

[0055] The operating range of the first loading robot 4a covers the two left corners, the front midpoint, the two left corner protection positioning platforms, and the edge protection positioning platform 6 of the photovoltaic module 200. The first positioning camera 11 needs to roughly identify all the picking and placing points of the first loading robot 4a and guide the first loading robot 4a to complete the material transfer action between picking, positioning, and installation. The operating range of the second loading robot 4b covers the two right corners, the rear midpoint, the two right corner protection positioning platforms, and the edge protection positioning platform 6 of the photovoltaic module 200. The second positioning camera 12 needs to roughly identify all the picking and placing points of the second loading robot 4b and guide the second loading robot 4b to complete the material transfer action between picking, positioning, and installation.

[0056] like Figures 3 to 5As shown, both loading robots include a robotic arm 41, a gripper bracket 42 at the end of the robotic arm 41, corner protection and edge protection components 43 and 44 at the lower part of the gripper bracket 42, and a gripper vision mechanism 45 on the side of the gripper bracket 42. The gripper vision mechanism 45 includes a vision lens 451 and a surface light source 452. The surface light source 452 illuminates the detection area of ​​the vision lens 451 downwards, and an observation hole facing the vision lens 451 is provided in the middle of the surface light source 452.

[0057] The first loading robot 4a and the second loading robot 4b have the same functions. The gripper vision mechanism 45 is responsible for high-precision (relative to the precision of the first positioning camera 11 and the second positioning camera 12) material or position identification, thereby guiding the corner guard pick-and-place assembly 43 to accurately pick up and place the corner guard 301, and the edge guard pick-and-place assembly 44 to accurately pick up and place the edge guard 302, avoiding material falling. The surface light source 452 provides sufficient illumination to the detection area of ​​the vision lens 451, avoiding misjudgment by the vision lens 451.

[0058] like Figure 4 and Figure 5 As shown, the corner protector pick-and-place assembly 43 includes a first fixing plate 431 connected to the lower part of the gripper bracket 42, three corner protector suction cups 432 distributed in a triangular shape on the lower part of the first fixing plate 431, and three corner protector pressure blocks 433 interspersed with the corner protector suction cups 432.

[0059] The corner protector pick-up and drop assembly 43 firmly holds the upper surface of the corner protector 301 with three corner protector suction cups 432. When the corner protector 301 is placed on the corner protector positioning platform 5 or the corner of the photovoltaic module 200, the corner protector pressing block 433 will press the corner protector 301 in place. The pressure will be released after the corner protector 301 is completely separated from the corner protector suction cups 432 to prevent the corner protector 301 from popping up and falling.

[0060] like Figure 4 and Figure 5 As shown, the edge protection pick-and-place assembly 44 includes a lifting drive 441 connected to the side of the gripper bracket 42, a second fixed plate 442 driven to lift by the lifting drive 441, four edge protection suction cups 443 rectangularly distributed at the bottom of the second fixed plate 442, and an edge protection pressure block 444 interspersed between the edge protection suction cups 443.

[0061] The edge protection pick-and-place assembly 44 uses four edge protection suction cups 443 to hold the upper surface of the edge protection 302. When the edge protection 302 is placed on the edge protection positioning platform 6 or at the midpoint of the long side of the photovoltaic module 200, the edge protection pressing block 444 will press the edge protection 302 in place. The pressure will be released only after the edge protection 302 is completely detached from the edge protection suction cups 443 to prevent the edge protection 302 from popping up and falling. The lifting drive component 441 enables the second fixing plate 442 to be raised and lowered independently of the first fixing plate 431, avoiding the risk that the corner protection 301 or the edge protection 302 cannot be picked up together due to inconsistent heights (because there is no camera for lateral height detection).

[0062] like Figure 6 As shown, the corner protector positioning platform 5 includes a corner protector support plate 51, a first right-angle reference block 52 disposed on the upper surface of the corner protector support plate 51, and a slanted push cylinder 53 that clamps the corner protector 301 toward the first right-angle reference block 52. The first right-angle reference block 52 is provided with a first positioning sensor 54 for detecting that the corner protector 301 falls on the corner protector support plate 51. The first positioning sensor 54 is used to guide the slanted push cylinder 53 to start operating.

[0063] Because the initial angle of the corner protector 301 has a certain random error, and the loading robot also has systematic errors, in order to reduce the difficulty of precision control, the corner protector positioning platform 5 provides a transfer position for the corner protector 301 near the corner of the photovoltaic module 200. The corner protector 301 has an approximately isosceles right triangle structure. The first right-angle reference block 52 provides a position reference for its two right-angled sides. The inclined push cylinder 53 acts on its hypotenuse, so that the corner protector 301 is attached to the inside of the corner of the first right-angle reference block 52, thereby achieving precise positioning of the corner protector 301. The four corner protector positioning platforms 5 have the same structure, but considering that after the corner protector 301 is positioned, it moves to the adjacent installation position (i.e., the corner of the photovoltaic module 200), and the angle does not need to change, the four are oriented differently, and there is a 90° angle difference between adjacent corner protector positioning platforms 5.

[0064] like Figure 7 As shown, the edge protection positioning platform 6 includes an edge protection support plate 61, a second right-angle reference block 62 disposed on the upper surface of the edge protection support plate 61, and two direct-push cylinders 63 that clamp the edge protection 302 to the second right-angle reference block 62. The lower part of the edge protection support plate 61 is provided with a second positioning sensor 64 for detecting that the edge protection 302 falls on the edge protection support plate 61. The second positioning sensor 64 is used to guide the two direct-push cylinders 63 to start operating.

[0065] Because the initial angle of the edge protector 302 has a certain random error, and the loading robot also has systematic errors, in order to reduce the difficulty of precision control, the edge protector positioning platform 6 provides a transfer position for the edge protector 302. The edge protector 302 has a rectangular structure, and the second right-angle reference block 62 provides a position reference for its adjacent sides, thereby achieving precise positioning of the edge protector 302.

[0066] The working process of this photovoltaic module corner and edge protection mounting machine 100 is as follows:

[0067] 1. The synchronous conveyor line 21 moves the photovoltaic module 200 to be assembled to the middle of the four alignment mechanisms 22. The four alignment mechanisms 22 move from the four sides toward the middle to fix the photovoltaic module 200 in position.

[0068] 2. A large number of corner protectors 301 are randomly poured into the vibratory feeder of the corner protector arranging conveyor unit 3a, and a large number of edge protectors 302 are randomly poured into the vibratory feeder of the edge protector arranging conveyor unit 3b. The two conveyor units can each arrange the corner protectors 301 and edge protectors 302 in a specific orientation and send them out onto the conveyor line 32. For each conveyor line 32, the first outlet and the second outlet provide two material picking positions, allowing the first loading robot 4a and the second loading robot 4b to pick up materials (corner protectors 301 or edge protectors 302) without interfering with each other.

[0069] 3. The first sensor 34a can detect whether material has arrived at the first outlet, and the second sensor 34b can detect whether material has arrived at the second outlet. The first positioning camera 11 is used to monitor the movement of the first feeding robot 4a, and the second positioning camera 12 is used to monitor the movement of the second feeding robot 4b, thereby guiding the feeding robots when to pick up materials to prevent them from emptying their containers. Each feeding robot can pick up a maximum of one corner protector 301 and one edge protector 302 at the same time. The corner protector 301 is picked up using three corner protector suction cups 432, and the edge protector 302 is picked up using four edge protector suction cups 443.

[0070] 4. After picking up the corner protector 301, the loading robot will first place it on the corner protector positioning platform 5. When the first positioning sensor 54 senses that the corner protector 301 is in place on the corner protector positioning platform 5, the inclined push cylinder 53 pushes the corner protector 301 obliquely against the inside of the angle of the first right-angle reference block 52, so that it is pre-adjusted to the angle to be placed at the corner point of the photovoltaic module 200. In this way, after the loading robot uses the corner protector picking and placing component 43 to pick up the corner protector 301, it only needs to move a small distance to place it at the corner point of the photovoltaic module 200, so the assembly accuracy of the corner protector 301 can be more reliable. Because the angles of the corner protectors 301 at the four corner points are different, each corner protector positioning platform 5 only needs to position the nearest corner protector 301. The four corner protector positioning platforms 5 are incompatible and will not cause action conflicts between the two loading robots.

[0071] 5. After picking up the edge protector 302, the loading robot first places it on the edge protector positioning platform 6. When the second positioning sensor 64 detects that the edge protector 302 is in place on the edge protector support plate 61, two direct-push cylinders 63 move the edge protector 302 from two vertical directions to the inside of the included angle of the second right-angle reference block 62, thereby achieving precise positioning of the edge protector 302. Subsequently, the loading robot uses the edge protector picking and placing component 44 to pick up the edge protector 302 and then places it at the midpoint of the long side of the photovoltaic module 200, making the assembly accuracy of the edge protector more reliable. Because the two loading robots share one edge protector positioning platform 6, they need to take turns positioning the edge protector 302.

[0072] 6. For example Figure 8 As shown, after four corner protectors 301 and two edge protectors 302 are assembled on a single photovoltaic module 200, the alignment mechanism 22 is released, and the synchronous conveyor line 21 sends the assembled photovoltaic module 200 out of the photovoltaic module corner protector and edge protector installation machine 100.

[0073] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A corner and edge protection installation machine for photovoltaic modules, characterized in that... include: frame; The panel feeding assembly, located on the lower layer of the frame, includes a synchronous conveyor line for conveying photovoltaic modules in the front-to-back direction and four alignment mechanisms located around the synchronous conveyor line. The corner protection arrangement conveying unit and the edge protection arrangement conveying unit are arranged side by side in the middle layer of the frame. Each of them includes a vibratory plate and a transmission line arranged sequentially in the left-right direction. Baffles are provided on both sides of the transmission line in the conveying direction. The first and second loading robots are located on the upper layer of the frame and each includes a robotic arm, a gripper bracket at the end of the robotic arm, a corner protection picking and placing component and an edge protection picking and placing component at the lower part of the gripper bracket, and a gripper vision mechanism on the side of the gripper bracket. Both transmission lines are equipped with a first outlet located within the operating range of the first feeding robot and a second outlet located within the operating range of the second feeding robot.

2. The photovoltaic module corner and edge protection mounting machine according to claim 1, characterized in that: A first sensor is provided on the side of the first outlet, and a second sensor is provided on the side of the second outlet. A first positioning camera and a second positioning camera are provided on the top of the frame. The first positioning camera monitors the operating range of the first loading robot, and the second positioning camera monitors the operating range of the second loading robot.

3. The photovoltaic module corner and edge protection mounting machine according to claim 1, characterized in that: The middle layer of the frame is also provided with four corner protection positioning platforms and one edge protection positioning platform. The four corner protection positioning platforms are respectively set near the four corner points of the photovoltaic module, and the edge protection positioning platform is located in the overlapping area of ​​the operating range of the first loading robot and the second loading robot.

4. The photovoltaic module corner and edge protection mounting machine according to claim 3, characterized in that: The corner protector positioning platform includes a corner protector support plate, a first right-angle reference block disposed on the upper surface of the corner protector support plate, and a slanted push cylinder that clamps the corner protector to the first right-angle reference block.

5. The photovoltaic module corner and edge protection mounting machine according to claim 4, characterized in that: The first right-angle reference block is provided with a first positioning sensor for detecting the corner protection on the corner protection support plate. The first positioning sensor is used to guide the inclined push cylinder to start operating.

6. The photovoltaic module corner and edge protection mounting machine according to claim 3, characterized in that: The edge protection positioning platform includes an edge protection support plate, a second right-angle reference block disposed on the upper surface of the edge protection support plate, and two direct-push cylinders that clamp the edge protection to the second right-angle reference block.

7. The photovoltaic module corner and edge protection mounting machine according to claim 6, characterized in that: The lower part of the edge protection support plate is provided with a second positioning sensor for detecting when the edge protection falls onto the edge protection support plate. The second positioning sensor is used to guide the two direct-push cylinders to start operating.

8. The photovoltaic module corner and edge protection mounting machine according to claim 1, characterized in that: The corner protector picking and placing assembly includes a first fixing plate connected to the lower part of the gripper bracket, three corner protector suction cups distributed in a triangular pattern on the lower part of the first fixing plate, and three corner protector pressure blocks interspersed with the corner protector suction cups.

9. The photovoltaic module corner and edge protection mounting machine according to claim 1, characterized in that: The edge protection pick-and-place assembly includes a lifting drive connected to the side of the gripper bracket, a second fixed plate driven to rise and fall by the lifting drive, four edge protection suction cups rectangularly distributed at the bottom of the second fixed plate, and an edge protection pressure block interspersed between the edge protection suction cups.

10. The photovoltaic module corner and edge protection mounting machine according to claim 1, characterized in that: The gripper vision mechanism includes a vision lens and a surface light source. The surface light source illuminates the detection area of ​​the vision lens downwards, and the center of the surface light source has an observation hole facing the vision lens.

Images