A solar cell sorting system and a robotic arm for sorting the cells

Abstract

This utility model relates to a solar cell sorting system and a robotic arm for the sorting area. It includes a detection platform and a robotic arm. The detection platform has a sorting area with multiple tray placement positions. One side of the sorting area has a cell unloading position, and the other sides have tray buffer positions, tray unloading positions, and empty tray positions. Each tray placement position, tray buffer position, and tray unloading position is equipped with a positioning bracket and a tray photoelectric switch. The robotic arm includes a gantry movement mechanism, a conveying mechanism, and a gripper mechanism. This utility model offers flexible sorting and strong adaptability. The sorting area, through a reasonable layout of the tray placement positions and the robotic arm, achieves precise positioning, ensuring the safety of the solar cells and equipment, optimizing process continuity, and improving production efficiency. The robotic arm adopts a gantry movement mechanism and a three-dimensional drive structure with a Z-axis movement module, resulting in enhanced stability.

Description

Technical Field

[0001] This utility model relates to the field of solar cell inspection technology, and in particular to a solar cell grading system and a robotic arm for grading. Background Technology

[0002] Tandem solar cells typically employ a multi-junction stacked design. A typical triple-junction gallium arsenide (GaAs) cell consists of three layers stacked together: GaInP (top junction, ~1.8 eV), GaAs (middle junction, ~1.42 eV), and Ge (bottom junction, ~0.67 eV). Each layer absorbs different wavelengths of sunlight, and each layer independently forms a PN junction. The cell shape differs from conventional crystalline silicon cells; its electrodes are generally located on the side. The manufactured cells undergo IV testing, EL testing, performance testing, and defect assessment before being classified and graded.

[0003] Existing solar cell sorting mechanisms are all designed for crystalline silicon solar cells. They use a suction cup robot to directly pick up individual solar cells and place them into a material box. These are all stacked, which takes up little space. For example, Chinese patent document CN111604287 B discloses a solar cell sorting system and sorting method. The sorting position uses a material box to receive solar cells, and the robot uses a suction cup assembly to directly pick up and place the solar cells. Since the electrodes of stacked solar cells are on the side, they cannot be stacked and can only be laid flat in a tray. The previous sorting method cannot meet the sorting requirements of stacked solar cells.

[0004] Existing support structures for the material trays in the tiering area of ​​tandem solar cells mostly employ simple fixed brackets. Because the trays are prone to shifting and tilting during handling, this leads to significant misalignment between the trays and the grippers of the robotic arm. This can result in minor issues like incorrect cell grabbing and damage from falling cells, or even serious collisions between the grippers and the trays, damaging equipment components and increasing production losses and maintenance costs. Furthermore, the robotic arms often use single-axis or dual-axis drive structures, resulting in limited movement range and low motion precision, making it difficult to cover all critical areas of the tiering area, such as the tray laying position and unloading position.

[0005] Therefore, there is an urgent need for a grading system suitable for tandem solar cells. Summary of the Invention

[0006] To overcome the aforementioned shortcomings, the purpose of this utility model is to provide a solar cell grading system and a robotic arm for grading.

[0007] The technical solution adopted by this utility model to solve its technical problem is: a solar cell grading system, including a detection platform and a robotic arm. The detection platform is provided with a grading area, and the grading area is provided with multiple material tray flat positions. One side of the grading area is provided with a solar cell unloading position, and the other sides of the grading area are provided with a material tray buffer position, a material tray unloading position, and an empty tray position to prepare for replacing a full tray. Each material tray flat position, material tray buffer position, and material tray unloading position is provided with a positioning bracket and a material tray photoelectric switch. The robotic arm includes a gantry moving mechanism, a conveying mechanism, and a gripper mechanism. The robotic arm's moving area covers the grading area, the material tray buffer position, and the material tray unloading position.

[0008] Specifically, the grading area is equipped with a grading robot position, which is located within the material tray laying position.

[0009] Specifically, the positioning bracket includes two sets of lower connecting plates, supporting horizontal plates, and pillars. The lower connecting plates are fixedly connected to the supporting horizontal plates through the pillars. Each supporting horizontal plate has an end limiting block at one end and a side limiting block on the outer side. Each supporting horizontal plate has a positioning baffle at the other end. The positioning baffle is mounted on the end of the telescopic rod of the positioning cylinder. The cylinder body of the positioning cylinder is fixed on the supporting horizontal plate, the lower connecting plate, or the pillar.

[0010] A robotic arm for sorting solar cells includes: The gantry moving mechanism includes two sets of parallel synchronous Y-axis moving modules, a connecting bracket, and an X-axis moving module. The connecting bracket is fixedly mounted on the Y-axis sliders of the two Y-axis moving modules. The connecting bracket is provided with an X-axis moving module. The conveying mechanism is mounted on the X-axis slider of the X-axis moving module. The conveying mechanism is connected to the gripper mechanism via a Z-axis moving module. The gripper mechanism has four gripping blocks and adopts a four-jaw centering gripper mechanism. Grippers are fixedly provided below the gripping blocks, and gripper grooves are provided on the inner side of the grippers.

[0011] Specifically, the opening height of the claw groove is greater than the bottom height, and the width of the opening is greater than the height of the side wall of the tray body.

[0012] Specifically, the Y-axis moving module includes a Y-axis bracket, a Y-axis drive wheel assembly is mounted at the rear end of the Y-axis bracket, and a Y-axis driven wheel assembly is mounted at the front end. A Y-axis transmission belt is mounted on the outside of the wheels of the Y-axis drive wheel assembly and the Y-axis driven wheel assembly. The Y-axis transmission belt is fixed below the Y-axis moving block, the Y-axis moving block is mounted on the Y-axis slide bar, the Y-axis slide bar is mounted in the hollow cavity of the Y-axis bracket, and a Y-axis slider is fixed on the Y-axis transmission belt. The Y-axis slider and the Y-axis moving block are located at opposite positions on the Y-axis transmission belt.

[0013] Specifically, one end of the rotating shaft of the Y-axis active wheel set of the two Y-axis moving modules is connected to both ends of the transmission shaft through a coupling, and the other end of the rotating shaft of one of the Y-axis active wheel sets is connected to the output end of the Y-axis servo motor through a coupling.

[0014] Specifically, multiple mounting blocks are provided below the Y-axis bracket.

[0015] Specifically, the X-axis moving module includes an X-axis bracket, which is fixedly mounted on a connecting bracket. The rear end of the X-axis bracket is provided with an X-axis driving wheel assembly, and the front end is provided with an X-axis driven wheel assembly. An X-axis transmission belt is mounted on the outside of the wheels of the X-axis driving wheel assembly and the X-axis driven wheel assembly. The X-axis bracket is provided with two parallel X-axis slide rails, and an X-axis slider is mounted on the X-axis slide rails. The X-axis slider is fixed on the X-axis transmission belt. One end of the rotating shaft of the X-axis driving wheel assembly is connected to the output end of the X-axis servo motor through a coupling.

[0016] Specifically, the conveying mechanism includes an upper support plate, which is mounted above the X-axis slider, and a conveying frame is provided below the upper support plate.

[0017] Specifically, the Z-axis moving module includes a Z-axis sleeve, a Z-axis limiting rod, and a Z-axis driving cylinder. The cylinder body of the Z-axis driving cylinder and the Z-axis sleeve are fixed on the lower support plate. The Z-axis sleeve is provided with a Z-axis limiting rod. The lower end of the Z-axis limiting rod and the lower end of the telescopic rod of the Z-axis driving cylinder both pass through the lower support plate and are fixedly connected to the support plate of the gripper mechanism.

[0018] Specifically, the Y-axis moving module is provided with Y-axis photoelectric switches at both ends and Y-axis photosensitive sheet on the Y-axis slider; the X-axis moving module is provided with X-axis photoelectric switches at both ends and X-axis photosensitive sheet on the X-axis slider.

[0019] The beneficial effects of this utility model are as follows: The grading system is flexible and highly adaptable. By rationally arranging the material trays and grading robot positions, the number of material trays can be increased to 10 or more. The three-dimensional storage space can also be expanded around the perimeter. The specific number can be flexibly adjusted according to the stroke of the grading robot. The grading robot position is located in the center of the material trays, with material trays distributed on the left, right and rear sides, forming a central radial layout, which shortens the movement stroke of the grading robot. Precise positioning ensures the safety of the battery cells and equipment. Positioning brackets are set at the material tray laying position, material tray buffer position, and material tray unloading position. When the material tray is placed into the positioning bracket, the positioning cylinder drives the positioning baffle to accurately bring the material tray close to the end limit block, which effectively solves the problem of large positioning deviation of traditional brackets and ensures that the machine clamping claw mechanism and the material tray are accurately aligned. Adding a material tray buffer position and an empty tray position can buffer empty or full material trays, enabling parallel operation of empty tray replenishment, full tray transfer and grading process, further ensuring the continuity of the grading process and reducing downtime caused by insufficient material tray supply. The robotic arm adopts a gantry moving mechanism and a three-dimensional drive structure with a Z-axis moving module. The two sets of Y-axis moving modules move synchronously, which makes it more stable. The gripper mechanism adopts a four-jaw centering design. The gripper has a claw groove on the inner side, and the opening height of the claw groove is greater than the bottom height and the opening width is greater than the height of the material tray side wall. It is compatible with material trays of different heights and specifications, and has high gripping stability. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the horizontal layout of the grading zone system in Embodiment 1 of this utility model.

[0021] Figure 2 This is a three-dimensional schematic diagram of the grading zone system of Embodiment 1 of this utility model.

[0022] Figure 3 This is a schematic diagram of the positioning bracket structure in Embodiment 1 of this utility model.

[0023] Figure 4 This is a schematic diagram of the robotic arm mechanism structure of Embodiment 2 of this utility model. Figure 1 .

[0024] Figure 5 This is a schematic diagram of the robotic arm mechanism structure of Embodiment 2 of this utility model. Figure 2 .

[0025] Figure 6 This is a schematic diagram of the handling arm structure of Embodiment 2 of this utility model.

[0026] Figure 7 This is a schematic diagram of the clamping block structure in Embodiment 2 of this utility model.

[0027] Figure 8 This is a cross-sectional schematic diagram of the Y-axis moving platform of Embodiment 2 of this utility model.

[0028] The diagram shows: 1. Gantry moving mechanism; 101. Y-axis moving module; 1011. Y-axis support; 1012. Y-axis transmission belt; 1013. Y-axis drive wheel assembly; 1014. Y-axis driven wheel assembly; 1015. Transmission shaft; 1016. Y-axis servo motor; 1017. Coupling; 1018. Y-axis slider; 1019. Y-axis moving block; 10110. Y-axis slide bar; 102. Connecting bracket; 103. X-axis moving module; 1031. X-axis support; 1032. X-axis slide rail; 1033. X-axis transmission belt; 1034. X-axis drive wheel assembly; 1035. X-axis driven wheel assembly; 1036. X-axis servo motor, 104 first cable chain, 1041 first bracket, 105 mounting block, 106 second cable chain, 1061 second bracket, 1071 X-axis photoelectric switch, 1072 X-axis photoelectric sensor, 2 conveying mechanism, 201 upper support plate, 202 connecting frame, 203 lower support plate, 204 Z-axis sleeve, 205 Z-axis limit rod, 206 Z-axis drive cylinder, 3 gripper mechanism, 301 support plate, 302 gripper block, 303 gripper drive motor, 304 gripper, 3041 gripper groove, 4 tray flat position, 6 tray unloading position, 7 battery cell unloading position, 8 detection platform, 9 sorting robot station, 10 empty tray position, 11 tray body. Detailed Implementation

[0029] The present invention will now be described in further detail with reference to the accompanying drawings. Example

[0030] like Figure 1 , 2 As shown in Figure 3, a solar cell sorting system includes a detection platform 8 and a robotic arm. The detection platform 8 has a sorting area 801, which contains multiple tray laying positions 4. One side of the sorting area 801 has a solar cell unloading position 7, and the other sides of the sorting area 801 have tray buffer positions 5 and tray unloading positions 6. Each tray laying position 4, tray buffer position 5, and tray unloading position 6 is equipped with a positioning bracket and a tray photoelectric switch 407. The tray photoelectric switch 407 uses a SICK-GL6 photoelectric sensor to sense whether the tray body 11 is in place. The tray buffer position 5 buffers empty or full tray bodies during production to ensure the continuity of the production process. The robotic arm includes a gantry moving mechanism 1, a conveying mechanism 2, and a gripper mechanism 3. The robotic arm's moving area covers the sorting area, tray buffer position 5, and tray unloading position 6.

[0031] Specifically, the grading area 801 is equipped with a grading robot position 9, which is located within the material tray flattening position 4, such as... Figure 1As shown, there are 10 material tray flat positions 4. There is a row on each side of the sorting robot position 9, with four material tray flat positions 4 in each row. There are two material tray flat positions 4 behind the sorting robot position 9. In this way, at least 10 sorting can be achieved. The number of material tray flat positions 4 can be determined according to the stroke of the sorting robot.

[0032] Specifically, the positioning bracket includes two sets of lower connecting plates 401, supporting horizontal plates 402, and support columns 403. The lower connecting plates 401 are fixedly connected to the supporting horizontal plates 402 via the support columns 403. Each supporting horizontal plate 402 has an end limiting block 404 at one end and a side limiting block 408 on the outer side. Each supporting horizontal plate 402 has a positioning baffle 405 at the other end. The positioning baffle 405 is mounted on the end of the telescopic rod of the positioning cylinder 406, and the cylinder body of the positioning cylinder 406 is fixed to the supporting horizontal plate 402 or... On the lower connecting plate 401 or column 403, when there is no material tray body 11, the telescopic rod of the positioning cylinder 406 drives the positioning baffle 405 to move away from the end limit block 404. The positioning space is large, and the material tray body 11 is placed into the positioning bracket. The positioning photoelectric switch senses that the material tray body 11 is in place, and the telescopic rod of the positioning cylinder 406 drives the positioning baffle 405 to move towards the end limit block 404, bringing the material tray body 11 close to the end limit block 404. This can accurately position the tray and facilitate the gripper mechanism to pick up the material tray.

[0033] Specifically, this also includes empty plates, which are prepared to replace full plates. Example

[0034] like Figures 5 to 8 The illustrated robotic arm for sorting solar cells includes a gantry moving mechanism 1, a transporting mechanism 2, and a gripper mechanism 3. The gantry moving mechanism 1 comprises two sets of parallel synchronous Y-axis moving modules 101, a connecting bracket 102, and an X-axis moving module 103. The connecting bracket 102 is fixedly mounted on Y-axis sliders 1018 of the two Y-axis moving modules 101. The connecting bracket 102 is equipped with an X-axis moving module 103, and the transporting mechanism 2 is mounted on the X-axis slider 1018 of the X-axis moving module 103. On 37, the conveying mechanism 2 is connected to the gripper mechanism 3 via the Z-axis moving module. The gripper mechanism 3 is provided with four gripping blocks 301. The gripper mechanism 3 adopts a four-jaw centering gripper mechanism. The gripper mechanism 3 is existing technology. The gripping blocks 303 of the gripper mechanism 3 are driven by gripper cylinders 303, which will not be described in detail here. A gripper 304 is fixedly provided below the gripping block 301. A claw groove 3041 is provided on the inner side of the gripper 304. The opening height of the claw groove 3041 is greater than the bottom height, and the width of the opening is greater than the height of the side wall of the pallet body 11.

[0035] Its working principle is as follows: After the gantry moving mechanism 1 drives the transport mechanism 2 to the corresponding position, the Z-axis moving module descends. At this time, the gripper 304 is in the open state. After descending to the position, the pneumatic motor of the gripper cylinder 303 of the gripper 304 moves, driving the gripper to move inward and clamp the pallet body 11, keeping the pallet body 11 free and undamaged in the fixture. The structure of the clamping groove 3041 matches the pallet structure. After retracting, the Z-axis moving module rises, and the gantry moving mechanism 1 drives the transport mechanism 2 to move to the corresponding receiving position and place the pallet body 1.

[0036] Specifically, the Y-axis moving module 101 includes a Y-axis support 1011. A Y-axis drive wheel set 1013 is mounted at the rear end of the Y-axis support 1011, and a Y-axis driven wheel set 1014 is mounted at the front end. A Y-axis transmission belt 1012 is mounted outside the wheels of the Y-axis drive wheel set 1013 and the Y-axis driven wheel set 1014. The Y-axis transmission belt 1012 is fixed below on a Y-axis moving block 1019. The Y-axis moving block 1019 is mounted on a Y-axis slide bar 10110, which is mounted inside the hollow cavity of the Y-axis support 1011. A Y-axis slider 1018 is fixedly mounted on the Y-axis transmission belt 1012. Furthermore, the Y-axis slider 1018 and the Y-axis moving block 1019 are located at opposite positions on the Y-axis transmission belt 1012. In this way, the Y-axis moving block 1019 can provide sufficient support for the Y-axis slider 1018, making its operation more stable and less prone to deformation.

[0037] Specifically, one end of the rotating shaft of the Y-axis active wheel set 1013 of the two Y-axis moving modules 101 is connected to both ends of the transmission shaft 1015 through a coupling 1017. The other end of the rotating shaft of one of the Y-axis active wheel sets 1013 is connected to the output end of the Y-axis servo motor 1016 through a coupling. The Y-axis servo motor 1016 drives the Y-axis active wheel sets 1013 of the two Y-axis moving modules 101 to work, thereby driving the Y-axis transmission belt 1012 to rotate. The Y-axis transmission belt 1012 drives the Y-axis slider 1018 to move along the Y-axis direction, further driving the two ends of the connecting bracket 102 to move synchronously, making its movement more stable.

[0038] Specifically, the Y-axis bracket 1011 is provided with multiple mounting blocks 105 below it for mounting on the vertical bracket. Based on the customer's actual space and the matching sizing robot, a suitable height is selected to place the gantry moving mechanism 1 above the sizing area that needs to be transported.

[0039] Specifically, the X-axis moving module 103 includes an X-axis bracket 1031, which is fixedly mounted on the connecting bracket 102. The rear end of the X-axis support 1031 is provided with an X-axis drive wheel set 1034, and the front end is provided with an X-axis driven wheel set 1035. An X-axis transmission belt 1033 is mounted on the wheels of the X-axis drive wheel set 1034 and the X-axis driven wheel set 1035. The X-axis support 1031 is provided with two parallel X-axis slide rails 1032. An X-axis slider 1037 is mounted on the X-axis slide rails 1032. The X-axis slider 1037 is fixed on the X-axis transmission belt 1033. One end of the rotating shaft of the X-axis drive wheel set 1034 is connected to the output end of the X-axis servo motor 1036 through a coupling. The rotation of the X-axis servo motor 1036 drives the X-axis transmission belt 1033 to rotate. The X-axis transmission belt 1033 drives the X-axis slider 1037 to move along the X-axis. The X-axis slider 1037 drives the conveying mechanism 2 to move.

[0040] Specifically, the conveying mechanism 2 includes an upper support plate 201, an upper support plate 202 mounted above the X-axis slider 1037, a conveying frame 202 below the upper support plate 202, an X-axis moving module 2 located in the middle of the conveying frame 202 to balance the forces on both sides, and a lower support plate 203 fixedly mounted on the side of the conveying frame 202.

[0041] Specifically, the Z-axis moving module includes a Z-axis sleeve 204, a Z-axis limiting rod 205, and a Z-axis driving cylinder 206. The cylinder body of the Z-axis driving cylinder 206 and the Z-axis sleeve 204 are fixed on the lower support plate 203. The Z-axis sleeve 204 is provided with a Z-axis limiting rod 205. The lower end of the Z-axis limiting rod 205 and the lower end of the telescopic rod of the Z-axis driving cylinder 206 both pass through the lower support plate 203 and are fixedly connected to the support plate 301 of the gripper mechanism 3. The Z-axis driving cylinder 206 moves the gripper mechanism 3 up and down. The Z-axis sleeve 204 and the Z-axis limiting rod 205 cooperate to limit and stabilize the operation. Furthermore, at least two sets of Z-axis sleeves 204 and Z-axis limiting rods 205 are provided, which are symmetrically arranged relative to the Z-axis driving cylinder.

[0042] Specifically, the Y-axis moving module 101 is provided with Y-axis photoelectric switches 1071 at both ends, and the Y-axis slider 1018 is provided with a Y-axis photosensitive plate 1072. Similarly, the X-axis moving module 103 is provided with X-axis photoelectric switches at both ends, and the X-axis slider is provided with an X-axis photosensitive plate, as shown below. Figure 5 As shown, when the conveying mechanism 2 moves to the end along the Y-axis, the Y-axis photoelectric switch 1071 senses the Y-axis photosensitive sheet 1072, and the Y-axis servo motor 101 stops working to avoid collision accidents.

[0043] This utility model is not limited to the described embodiments. Anyone should know that any structural changes made under the guidance of this utility model, and any technical solutions that are the same as or similar to this utility model, fall within the protection scope of this utility model.

[0044] The technologies, shapes, and structures not described in detail in this utility model are all known technologies.

Claims

1. A solar cell sorting system, comprising a detection platform and a robotic arm, characterized in that: The testing platform is equipped with a grading area, which contains multiple material tray flat positions. One side of the grading area is equipped with a battery cell unloading position, and the other side is equipped with a material tray buffer position, a material tray unloading position, and an empty tray position. Each material tray flat position, material tray buffer position, and material tray unloading position is equipped with a positioning bracket and a material tray photoelectric switch. The robotic arm includes a gantry moving mechanism, a conveying mechanism, and a gripper mechanism. The moving area of ​​the robotic arm covers the grading area, the material tray buffer position, the material tray unloading position, and the empty tray position.

2. The solar cell grading system according to claim 1, characterized in that: The grading area is equipped with a grading robot station, which is located within the material tray laying area.

3. A solar cell grading system according to claim 1, characterized in that: The positioning bracket includes two sets of lower connecting plates, supporting horizontal plates, and pillars. The lower connecting plates are fixedly connected to the supporting horizontal plates through the pillars. Each supporting horizontal plate has an end limiting block at one end and a side limiting block on the outer side. Each supporting horizontal plate has a positioning baffle at the other end. The positioning baffle is assembled at the end of the telescopic rod of the positioning cylinder. The cylinder body of the positioning cylinder is fixed on the supporting horizontal plate, the lower connecting plate, or the pillar.

4. A robotic arm for sorting solar cells, characterized in that: The robotic arm, applied to the solar cell sorting system according to any one of claims 1 to 3, comprises: The gantry moving mechanism includes two sets of parallel synchronous Y-axis moving modules, a connecting bracket, and an X-axis moving module. The connecting bracket is fixedly mounted on the Y-axis sliders of the two Y-axis moving modules. The connecting bracket is provided with an X-axis moving module. The conveying mechanism is mounted on the X-axis slider of the X-axis moving module. The conveying mechanism is connected to the gripper mechanism via a Z-axis moving module. The gripper mechanism has four gripping blocks and adopts a four-jaw centering gripper mechanism. Grippers are fixedly provided below the gripping blocks, and gripper grooves are provided on the inner side of the grippers.

5. A robotic arm for sorting solar cells according to claim 4, characterized in that: The opening height of the claw groove is greater than the bottom height, and the width of the opening is greater than the height of the side wall of the tray body.

6. A robotic arm for sorting solar cells according to claim 4, characterized in that: The Y-axis moving module includes a Y-axis bracket, a Y-axis drive wheel assembly mounted at the rear end of the Y-axis bracket, and a Y-axis driven wheel assembly mounted at the front end. A Y-axis transmission belt is mounted on the outside of the wheels of the Y-axis drive wheel assembly and the Y-axis driven wheel assembly. The Y-axis transmission belt is fixed below the Y-axis moving block, the Y-axis moving block is mounted on the Y-axis slide rod, the Y-axis slide rod is mounted in the hollow cavity of the Y-axis bracket, and a Y-axis slider is fixed on the Y-axis transmission belt. The Y-axis slider and the Y-axis moving block are located at opposite positions on the Y-axis transmission belt.

7. A robotic arm for sorting solar cells according to claim 6, characterized in that: One end of the rotating shaft of each of the two Y-axis moving modules is connected to both ends of the transmission shaft via a coupling, and the other end of the rotating shaft of one of the Y-axis moving modules is connected to the output end of the Y-axis servo motor via a coupling.

8. A robotic arm for sorting solar cells according to claim 4, characterized in that: The X-axis moving module includes an X-axis bracket, which is fixedly mounted on a connecting bracket. The rear end of the X-axis bracket is provided with an X-axis drive wheel assembly, and the front end is provided with an X-axis driven wheel assembly. An X-axis transmission belt is mounted on the outside of the wheels of the X-axis drive wheel assembly and the X-axis driven wheel assembly. The X-axis bracket is provided with two parallel X-axis slide rails, and an X-axis slider is mounted on the X-axis slide rails. The X-axis slider is fixed on the X-axis transmission belt. One end of the rotating shaft of the X-axis drive wheel assembly is connected to the output end of the X-axis servo motor through a coupling.

9. A robotic arm for sorting solar cells according to claim 4, characterized in that: The conveying mechanism includes an upper support plate, which is mounted above the X-axis slider. A conveying frame is provided below the upper support plate. The Z-axis moving module includes a Z-axis sleeve, a Z-axis limiting rod, and a Z-axis driving cylinder. The cylinder body of the Z-axis driving cylinder and the Z-axis sleeve are fixed on the lower support plate. The Z-axis sleeve is provided with a Z-axis limiting rod. The lower end of the Z-axis limiting rod and the lower end of the telescopic rod of the Z-axis driving cylinder both pass through the lower support plate and are fixedly connected to the support plate of the gripper mechanism.

10. A robotic arm for sorting solar cells according to claim 4, characterized in that: The Y-axis moving module is equipped with Y-axis photoelectric switches at both ends and Y-axis photosensitive sheets on the Y-axis slider. The X-axis moving module is equipped with X-axis photoelectric switches at both ends and X-axis photosensitive sheets on the X-axis slider.

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