Photovoltaic module cell string layout device

Abstract

The application relates to the field of photovoltaic module preparation, and provides a photovoltaic module cell string layout device, which comprises a cell string grabbing unit, a horizontal displacement mechanism, a rotary driving mechanism arranged on the horizontal displacement mechanism, a bearing frame arranged on the rotary driving mechanism, a visual detection unit and a control unit; the cell string grabbing unit comprises a picking mechanism and a transfer mechanism for transferring the picking mechanism to a single fixed working point; the visual detection unit is used for acquiring real-time pose data of a photovoltaic glass plate; the control unit is signal-connected with the pose adjustment unit, the visual detection unit and the cell string grabbing unit, and based on the real-time pose data of the visual detection unit, the pose of the photovoltaic glass plate is adjusted so that a target string placement point on the photovoltaic glass plate corresponds to the single fixed working point. Through the cooperative control mechanism of fixing the cell string placement operation point and dynamically adjusting the pose of the glass plate, the consistency control of the string spacing is realized, the spacing error between adjacent cell strings is reduced, and the requirements of the super-dense layout process are met.

Description

Technical Field

[0001] This application relates to the field of photovoltaic module manufacturing technology, and in particular to a photovoltaic module cell string arrangement device. Background Technology

[0002] In photovoltaic module production, battery strings need to be precisely arranged on a glass plate at a set spacing. The current mainstream arrangement method adopts a battery string grasping unit moving and positioning mode: the battery string grasping unit carries the battery strings to different target coordinate points on the glass plate and places them string by string.

[0003] Due to limitations in the repeatability and positioning accuracy of the battery string grasping unit, insufficient rigidity, and calculation errors, the spacing deviation of battery strings at different positions can easily exceed the standard, failing to meet the process requirements of small string spacing modules and hindering the development of high-efficiency modules. Utility Model Content

[0004] Based on this, the present invention provides a photovoltaic module battery string arrangement device to solve the problem of large placement errors of battery strings in the prior art.

[0005] This utility model provides a photovoltaic module cell string arrangement device, comprising: The battery string grasping unit includes a picking mechanism for picking up battery strings and a transfer mechanism for transferring the picking mechanism to a single fixed working point to perform a battery string placement action. The pose adjustment unit includes a horizontal displacement mechanism, a rotary drive mechanism disposed on the horizontal displacement mechanism, and a support frame disposed on the rotary drive mechanism, wherein the support frame is used to support a photovoltaic glass panel; A visual inspection unit is used to acquire the real-time pose data of the photovoltaic glass panel; The control unit is connected to the pose adjustment unit, the vision detection unit, and the battery string grasping unit. The control unit is used to drive the horizontal displacement mechanism and the rotation drive mechanism to dynamically adjust the pose of the photovoltaic glass plate based on the real-time pose data provided by the vision detection unit, so that the target string placement point on the photovoltaic glass plate corresponds to the single fixed working point.

[0006] In one embodiment, the horizontal displacement mechanism includes a first linear module and a second linear module arranged orthogonally to each other. The first linear module extends along a first horizontal direction, and the second linear module is mounted on a sliding portion of the first linear module and extends along a second horizontal direction perpendicular to the first horizontal direction.

[0007] In one embodiment, the rotary drive mechanism includes a servo motor direct drive assembly with its rotation axis perpendicular to the horizontal bearing surface of the support frame.

[0008] In one embodiment, the photovoltaic module cell string arrangement device further includes a conveying mechanism for conveying the photovoltaic glass panel; The posture adjustment unit is disposed in the conveying mechanism, and the posture adjustment unit further includes a lifting mechanism, and the horizontal displacement mechanism is disposed on the lifting mechanism; The lifting mechanism has at least a high-level working state in which the bearing surface of the support frame is higher than the bearing surface of the conveying mechanism, and a low-level working state in which the bearing surface of the support frame is lower than the bearing surface of the conveying mechanism.

[0009] In one embodiment, the conveying mechanism comprises a plurality of conveyor belts conveying along the first horizontal direction, wherein the conveyor belts are arranged at intervals. The support frame includes a plurality of support plates extending along the first horizontal direction, each of the support plates being located between the intervals of the conveyor belts.

[0010] In one embodiment, the photovoltaic module cell string arrangement device further includes a straightening mechanism; The correction mechanism includes two correction cylinders arranged opposite each other on both sides of the conveying mechanism along the second horizontal direction. Each correction cylinder has a push rod on its piston rod, and the two push rods are opposite each other along the second horizontal direction.

[0011] In one embodiment, the photovoltaic module cell string arrangement device further includes a limiting block; The limiting stop includes two blocking cylinders arranged side by side and spaced apart along the second horizontal direction. The blocking cylinders are located outside the posture adjustment unit in the first horizontal direction. The extension and retraction direction of the blocking cylinders is vertical. Both blocking cylinders are provided with stop rods on their piston rods.

[0012] In one embodiment, the picking mechanism includes a fixed plate and a plurality of suction cups disposed on the fixed plate. The fixed plate is shaped as an elongated strip that matches the shape of the battery string, and the suction cups are evenly distributed along the length of the fixed plate.

[0013] In one embodiment, the transfer mechanism includes a robotic hand or robotic arm having at least horizontal and vertical degrees of freedom.

[0014] In one embodiment, the visual detection unit includes one or more CCD cameras located above the pose adjustment unit for real-time imaging of the photovoltaic glass panel.

[0015] Compared with the prior art, this utility model has at least the following beneficial effects: This utility model discloses a photovoltaic module cell string arrangement device. By locking the placement position of the cell string grasping unit at a single fixed working point, it eliminates positioning errors caused by the multi-position movement of the cell string grasping unit. Based on the real-time pose data of the photovoltaic glass panel, the control unit drives the horizontal displacement mechanism and the rotary drive mechanism in conjunction, actively aligning the target string placement point on the glass panel with the fixed working point, thus eliminating the cumulative positioning deviation of the cell string grasping unit. In this way, through a coordinated control mechanism that fixes the operating point of the cell string grasping unit and dynamically adjusts the pose of the glass panel, consistent control of the string spacing is achieved, reducing the spacing error between adjacent cell strings and meeting the requirements of ultra-dense cell string arrangement processes. Attached Figure Description

[0016] Figure 1 This is a top view of a photovoltaic module cell string arrangement device in one embodiment; Figure 2 This is a schematic diagram of the structure of a photovoltaic module cell string arrangement device in one embodiment; Figure 3 This is a side view of a photovoltaic module cell string arrangement device in one embodiment; Figure 4 This is a schematic diagram of the battery string grasping unit in one embodiment; Figure 5 This is a front view of the pose adjustment unit in one embodiment; Figure 6 This is a schematic diagram of the pose adjustment unit in one embodiment; Figure 7 This is a top view of the horizontal displacement mechanism in one embodiment; Figure 8 This is a schematic diagram of the structure of the visual detection unit in one embodiment; Figure 9 and Figure 10 This is a schematic diagram of a first arrangement sequence of battery strings in one embodiment; Figure 11 This is a schematic diagram of a second arrangement sequence of battery strings in one embodiment.

[0017] The reference numerals in the accompanying drawings include: battery string gripping unit 100, picking mechanism 110, fixing plate 111, suction cup 112, transfer mechanism 120, posture adjustment unit 200, horizontal displacement mechanism 210, first linear module 211, second linear module 212, rotary drive mechanism 220, support frame 230, connecting plate 231, support plate 232, vision inspection unit 300, CCD camera 310, conveying mechanism 400, conveyor belt 410, alignment mechanism 500, alignment cylinder 510, push rod 520, roller 530, limit stop 600, stop cylinder 610, stop bar 620, lifting mechanism 700, photovoltaic glass plate 10, and battery string 20. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments.

[0019] As described in the background section, the current mainstream layout method uses a robotic arm for positioning: the robotic arm carries battery strings to different target coordinate points on a glass plate and places them string by string. However, due to limitations in the robotic arm's repeatability, insufficient rigidity, and calculation errors, the spacing between battery strings at different positions can easily exceed the standard, failing to meet the process requirements of small-spacing modules and hindering the development of high-efficiency modules. Although existing technologies can compensate for errors by reducing the robotic arm speed or adding calibration steps, this leads to a longer layout cycle time and reduced production capacity.

[0020] To address the aforementioned issues, this utility model provides a photovoltaic module battery string arrangement device. By fixing the string placement position and dynamically adjusting the position of the photovoltaic glass plate, the positioning error of the battery string gripping unit is compensated, thereby improving the string spacing accuracy.

[0021] Specifically, such as Figure 1 and Figure 2 As shown, the photovoltaic module cell string arrangement device provided in this embodiment includes: The battery string grasping unit 100 includes a picking mechanism 110 for picking up the battery string 20 and a transfer mechanism 120 for transferring the picking mechanism 110 to a single fixed working point to perform the battery string 20 placement action. The pose adjustment unit 200 includes a horizontal displacement mechanism 210, a rotary drive mechanism 220 disposed on the horizontal displacement mechanism 210, and a support frame 230 disposed on the rotary drive mechanism 220. The support frame 230 is used to support the photovoltaic glass panel 10. The visual inspection unit 300 is used to acquire the real-time pose data of the photovoltaic glass panel 10; The control unit is connected to the pose adjustment unit 200, the vision detection unit 300 and the battery string grasping unit 100. The control unit is used to drive the horizontal displacement mechanism 210 and the rotation drive mechanism 220 to dynamically adjust the pose of the photovoltaic glass plate 10 based on the real-time pose data provided by the vision detection unit 300, so that the target string placement point on the photovoltaic glass plate 10 corresponds to a single fixed working point.

[0022] The photovoltaic module cell string arrangement device of this embodiment eliminates positioning errors caused by the multi-position movement of the cell string gripping unit 100 by locking the placement position of the cell string 20 of the cell string gripping unit 100 at a single fixed working point. Based on the real-time pose data of the photovoltaic glass plate 10, the control unit drives the horizontal displacement mechanism 210 and the rotation drive mechanism 220 in linkage, so that the target string placement point on the photovoltaic glass plate 10 actively aligns with the fixed working point, thus eliminating the cumulative positioning deviation of the cell string gripping unit 100. In this way, through the coordinated control mechanism of fixing the operating point of the cell string gripping unit 100 and dynamically adjusting the pose of the glass plate, consistent control of the string spacing is achieved, reducing the spacing error between adjacent cell strings 20 and meeting the requirements of ultra-dense arrangement processes.

[0023] In this embodiment, the battery string gripping unit 100 can employ a conventional gripping mechanism such as a vacuum adsorption gripping mechanism or a mechanical clamping gripping mechanism. In this embodiment, to avoid damage to the battery cells, a vacuum adsorption gripping mechanism is preferred.

[0024] For example, see Figure 4 In one specific example, the picking mechanism 110 may include a fixing plate 111 and a plurality of suction cups 112 disposed on the fixing plate 111. The fixing plate 111 is elongated to match the shape of the battery string 20, and the suction cups 112 are evenly distributed along the length of the fixing plate 111. The suction cups 112 are connected to a vacuum suction device (not shown in the figure) via pipes. This picking mechanism 110, through the cooperation of the elongated fixing plate 111 and the evenly distributed vacuum suction cups 112, enables rapid and stable picking of the battery string 20, avoiding positional displacement during transport.

[0025] Correspondingly, in this embodiment, the transfer mechanism 120 is connected to the picking mechanism 110 and is used to drive the picking mechanism 110 to move along a specified trajectory. Specifically, it drives the picking mechanism 110 to move back and forth between the picking position and the placement position of the battery string 20, so as to realize the picking mechanism 110 picking up and placing the battery string 20 and performing the battery string 20 layout operation.

[0026] In this design, the positions where the transfer mechanism 120 drives the picking mechanism 110 to pick up the battery string 20 and place the battery string 20 are both fixed points, such as fixed points on the support platform of the battery string 20 and the support platform of the photovoltaic glass panel 10. By fixing the picking and placing operation points of the battery string gripping unit 100, positioning errors caused by the multi-position movement of the transfer mechanism 120 can be eliminated, improving layout accuracy.

[0027] Specifically, in this embodiment, the transfer mechanism 120 can be a two-axis or multi-axis robotic hand / arm with at least horizontal and vertical degrees of freedom, so as to drive the picking mechanism 110 to move back and forth between the picking position and the placement position of the battery string 20 in the horizontal direction and to pick up and place the battery string 20 in the vertical direction. For example, the transfer mechanism 120 can be a two-axis / three-axis Cartesian robot, a six-axis robotic arm, etc. Figure 4 An example is shown of the transfer mechanism 120 as a six-axis robotic arm.

[0028] In the pose adjustment unit 200 of this embodiment, the horizontal displacement mechanism 210 is specifically used to adjust the horizontal and vertical positions of the photovoltaic glass plate 10 in a two-dimensional plane so that the target string placement point initially corresponds to the fixed working point of the battery string grasping unit 100.

[0029] For example, see Figure 7 In this embodiment, the horizontal displacement mechanism 210 may include a first linear module 211 and a second linear module 212 arranged orthogonally to each other. The first linear module 211 extends along a first horizontal direction, and the second linear module 212 is mounted on the sliding part of the first linear module 211 and extends along a second horizontal direction perpendicular to the first horizontal direction. The rotary drive mechanism 220 is disposed on the sliding part of the second linear module 212. With this configuration, the first linear module 211 provides linear displacement in the first horizontal direction to the first linear drive module, and the second linear module 212 provides linear displacement in the second horizontal direction to the rotary drive mechanism 220. Their coordinated operation can cover all planar position adjustments required for the layout of the photovoltaic glass panel 10. This orthogonal dual-module structure not only ensures displacement accuracy (avoiding cumulative errors from a single module), but also simplifies the mechanical structure through modular design, improving the system's rigidity and response speed, enabling the photovoltaic glass panel 10 to quickly and accurately reach the target position, thereby meeting the requirements of high-precision layout for planar positioning.

[0030] Among them, see Figure 1 The aforementioned first and second horizontal directions can be the length and width directions of the photovoltaic glass panel 10. For ease of intuitive understanding, the direction along the X-axis is defined as the first horizontal direction, and the direction along the Y-axis is defined as the second horizontal direction. The sliding parts of the first linear module 211 and the second linear module 212 can be understood as movable parts that can move along the first horizontal direction / second horizontal direction under drive.

[0031] For example, such as Figure 7 As shown, both the first linear module 211 and the second linear module 212 can be existing ball screw linear modules, enabling high-precision positioning. Correspondingly, the sliding parts of the first linear module 211 and the second linear module 212 can be the sliders of the ball screw linear modules.

[0032] Of course, in other embodiments, the first linear module 211 and the second linear module 212 may also be linear motor modules, synchronous belt linear modules, etc.

[0033] In the pose adjustment unit 200 of this embodiment, the rotation drive mechanism 220 is specifically used to finely adjust the rotation angle of the photovoltaic glass plate 10 in the circumferential direction in a two-dimensional plane, so as to ensure that the long side direction of the battery string 20 is parallel to the edge of the glass plate, thereby achieving a precise correspondence between the target string placement point of the photovoltaic glass plate 10 and the fixed working point of the battery string gripping unit 100.

[0034] For example, the rotary drive mechanism 220 can employ a servo motor direct drive assembly, with its rotation axis perpendicular to the horizontal bearing surface of the support frame 230. See details... Figure 5 and Figure 6 The servo motor is vertically mounted on the sliding part of the second linear module 212, with its output shaft facing upwards. The support frame 230 is horizontally mounted on the output shaft of the servo motor. This ensures that the rotation axis of the rotary drive mechanism 220 is perpendicular to the bearing plane of the support frame 230, allowing for fine-tuning of the rotation angle of the support frame 230 on the plane by driving it with the servo motor.

[0035] Of course, in other embodiments, the rotary drive mechanism 220 may also employ a worm gear mechanism or the like.

[0036] For ease of intuitive understanding, the driving direction provided by the rotary drive mechanism 220 is defined as the Z-axis direction.

[0037] Based on the above structural design, the pose adjustment unit 200, through the linkage of the rotary drive mechanism 220 and the horizontal displacement mechanism 210, can enable the target string placement point on the glass plate to actively align with the fixed working point, thereby achieving precise positioning and orientation of the battery string 20 on the photovoltaic glass plate 10.

[0038] In some embodiments, the photovoltaic module cell string arrangement device of this utility model further includes a conveying mechanism 400, which is used to convey photovoltaic glass panels 10, for example, to convey photovoltaic glass panels 10 to be arranged with cell strings 20 to the posture adjustment unit 200, and to convey photovoltaic glass panels 10 after the cell strings 20 have been arranged. More specifically, the conveying mechanism 400 of this embodiment can be combined with the conveying line of photovoltaic glass panels 10 in the photovoltaic module production line to realize the automated continuous conveying of photovoltaic glass panels 10. By accurately conveying the glass panels to be processed to the workstation of the posture adjustment unit 200 and automatically removing the arranged photovoltaic modules, a complete production line is formed. The whole system can realize unmanned continuous production, eliminate manual handling links, and greatly improve production capacity.

[0039] See Figure 1The conveying mechanism 400 can specifically be a belt conveyor mechanism, which includes several conveyor belts 410 that convey along the first horizontal direction, and the conveyor belts 410 are arranged at intervals. Figure 1 An example is shown of a conveyor mechanism 400 having four conveyor belts 410.

[0040] Correspondingly, the pose adjustment unit 200 is disposed within the conveying mechanism 400 to facilitate the conveying of the photovoltaic glass panel 10 and the connection of the battery string 20 arrangement. For example, see Figure 1 The pose adjustment unit 200 is located in the empty area in the middle section of the conveying mechanism 400.

[0041] Specifically, such as Figure 1 and Figure 6 As shown, the support frame 230 of the pose adjustment unit 200 includes a connecting plate 231 and multiple support plates 232. The connecting plate 231 is fixed to the rotary drive mechanism 220 and extends along a second horizontal direction. The multiple support plates 232 ( Figure 1 Four support plates (shown as four) are spaced apart on the connecting plate 231, all extending along the first horizontal direction. Each support plate 232 is located in the interval between adjacent conveyor belts 410. This arrangement increases the bearing surface of the spaced support plates 232, ensuring the bearing stability of the photovoltaic glass panel 10. Moreover, the spaced support plates 232 and the conveyor belts 410 form alternating support surfaces. When the photovoltaic glass panel 10 is conveyed to its position, it is positioned precisely on each support plate 232, completing the conveying of the photovoltaic glass panel 10 and the connection of the battery string 20 arrangement.

[0042] Furthermore, to ensure the adjustment of the photovoltaic glass panel 10's orientation, see [reference needed]. Figure 5 The posture adjustment unit 200 also includes a lifting mechanism 700, which provides vertical displacement to lift the photovoltaic glass panel 10 off the conveyor belt 410, thereby making the support frame 230 form a complete support plane and ensuring that the photovoltaic glass panel 10 is not interfered with by the conveyor belt 410 during subsequent horizontal translation and rotation adjustment.

[0043] Specifically, such as Figure 5 As shown, the lifting mechanism 700 can be a lifting cylinder, which is located below the horizontal displacement mechanism 210. The first linear module 211 of the horizontal displacement mechanism 210 is connected to the end of the piston rod of the lifting cylinder. See also Figure 1 The two conveyor belts 410 in the middle section of the conveying mechanism 400 are disconnected from the corresponding positions of the connecting plate 231, forming an empty area through which the connecting plate 231 can pass vertically. In this way, the horizontal displacement mechanism 210, the rotary drive mechanism 220 and the support frame 230 can be lifted and lowered as a whole by the lifting mechanism 700, thereby realizing the lifting of the photovoltaic glass panel 10.

[0044] More specifically, in this embodiment, the lifting mechanism 700 has at least two working positions: one is a low-position working state, in which the lifting mechanism 700 lowers the horizontal displacement mechanism 210, the rotary drive mechanism 220, and the support frame 230 as a whole, so that the bearing surface of the support frame 230 is lower than the bearing surface of the conveying mechanism 400. At this time, the photovoltaic glass panel 10 can be completely supported by the conveying mechanism 400 to facilitate the conveying of the photovoltaic glass panel 10; the other is a high-position working state, in which the lifting mechanism 700 lifts the horizontal displacement mechanism 210, the rotary drive mechanism 220, and the support frame 230 as a whole, such as... Figure 3 As shown, the bearing surface of the support frame 230 is higher than the bearing surface of the conveying mechanism 400. At this time, the photovoltaic glass panel 10 can be completely supported by the support frame 230, so as to facilitate the position adjustment of the photovoltaic glass panel 10.

[0045] Furthermore, the conveying mechanism 400 is also provided with a limit stop 600, which is used to limit the photovoltaic glass panel 10 in the conveying direction. For example, see Figure 2 The limiting stop 600 includes two blocking cylinders 610 arranged side by side and spaced apart along the second horizontal direction. The blocking cylinders 610 are located outside the posture adjustment unit 200 in the first horizontal direction. The extension and retraction direction of the blocking cylinders 610 is vertical. Both blocking cylinders 610 are provided with stop rods 620. The blocking cylinders 610 drive the stop rods 620 to extend upward to above the bearing surface of the conveying mechanism 400 to limit the photovoltaic glass panel 10. The blocking cylinders 610 drive the stop rods 620 to retract downward to below the bearing surface of the conveying mechanism 400 to cancel the limitation and allow the photovoltaic glass panel 10 to be conveyed freely.

[0046] Furthermore, the conveying mechanism 400 is also equipped with a correction mechanism 500, which is used to correct the photovoltaic glass panel 10. The correction of the photovoltaic glass panel 10 can be understood as ensuring that the short side of the photovoltaic glass panel 10 is substantially parallel to the first horizontal direction, and that the length of the photovoltaic glass panel 10 is substantially parallel to the second horizontal direction. This configuration allows for pre-correction of the initial orientation of the photovoltaic glass panel 10, controlling the angular deviation of the photovoltaic glass panel 10 before it is supported by the posture adjustment unit 200 within a small range, thus shortening the time required for subsequent precision alignment.

[0047] For example, participate Figure 2The alignment mechanism 500 includes two alignment cylinders 510, which are arranged opposite each other on both sides of the conveying mechanism 400 along a second horizontal direction. The extension and retraction directions of both alignment cylinders 510 are in the second horizontal direction. Each alignment cylinder 510 has a push rod 520 connected to its piston rod, and a roller 530 is provided on the push rod 520. In the horizontal direction, the roller 530 is opposite to the photovoltaic glass panel 10 supported on the conveying mechanism 400. In this way, the two alignment cylinders 510 drive the push rods 520 on both sides to move towards each other, so that the two short sides of the photovoltaic glass panel 10 can be clamped by the rollers 530 to form an alignment and positioning. After alignment, the alignment cylinders 510 drive the push rods 520 to reset.

[0048] In this embodiment, the visual detection unit 300 can specifically be an existing CCD (Charge-Coupled Device) vision device, see [link to documentation]. Figure 8 The CCD vision device includes one or more CCD cameras 310, which are located above the pose adjustment unit 200 (not shown in the figure) and are used to capture real-time images of the photovoltaic glass panel 10. The control unit compares the captured images with images of the photovoltaic glass panel 10 in a standard position, so that the control unit can control the pose adjustment unit 200 to adjust the pose of the photovoltaic glass panel 10 according to the comparison results.

[0049] In this embodiment, the control unit is signal-connected to each of the aforementioned units / mechanisms to control the actions of each unit / mechanism. Specifically, the control unit can be a PLC (Programmable Controller), a microcontroller, or other similar controller.

[0050] Based on the photovoltaic module cell string arrangement device provided in the above embodiments, the arrangement operation can be performed in the following manner: S1. In the initial positioning stage, the photovoltaic glass panel 10 is driven to the preset station by the conveying mechanism 400. The limit stop 600 extends through the blocking cylinder 610, so that the stop rod 620 restricts the position of the photovoltaic glass panel 10 in the first horizontal direction. The two correction cylinders 510 drive the push rods 520 on both sides to move towards each other, clamping the two short sides of the photovoltaic glass panel 10 to form a correction positioning, realizing the initial positioning of the photovoltaic glass panel 10 and ensuring that the initial position deviation of the glass panel is minimized.

[0051] S2, during the lifting and detachment stage, the lifting cylinder of the lifting mechanism 700 lifts the horizontal displacement mechanism 210, the rotary drive mechanism 220 and the support frame 230 upward as a whole, so that the bearing surface of the support frame 230 is higher than the bearing surface of the conveying mechanism 400. At this time, the photovoltaic glass panel 10 can be completely supported by the support frame 230, providing operating space for subsequent precision displacement.

[0052] S3, Visual calibration starts. The CCD camera 310 of the visual inspection unit 300 captures real-time images of the photovoltaic glass panel 10 and transmits them to the control unit.

[0053] S4. Dynamic compensation execution: The control unit compares the captured photo with the photo of the standard-positioned photovoltaic glass panel 10. Based on the comparison result, the control unit controls the pose adjustment unit 200 to move. The horizontal displacement mechanism 210 drives the adjustment of the planar position of the photovoltaic glass panel 10 so that the target string placement point of the photovoltaic glass panel 10 coincides with the fixed placement point of the battery string 20. The rotation drive mechanism 220 finely adjusts the angle of the photovoltaic glass panel 10 to ensure that the edge of the photovoltaic glass panel 10 is parallel to the long side of the battery string 20 to be placed, thereby achieving precise positioning.

[0054] S5. The battery string grasping unit 100 works in coordination. The control unit controls the battery string grasping unit 100 to first pick up the battery string 20, and then transfer the battery string 20 to a single fixed working point to perform the battery string 20 placement action, so that the battery string 20 can be placed at the target placement point of the photovoltaic glass panel 10.

[0055] S6. Cyclic dynamic compensation: Adjust the position of photovoltaic glass panel 10 sequentially according to the layout sequence of battery string 20, and repeat S3-S5 until all battery string 20 layouts are completed.

[0056] S7. Reset and transfer: The horizontal displacement mechanism 210 drives the photovoltaic glass panel 10 back to its initial position, the lifting cylinder descends, and the photovoltaic glass panel 10 with the battery string 20 arranged is transferred to the next process through the conveying mechanism 400.

[0057] In step S6, the battery string 20 can be arranged in various ways. Two of these arrangements are illustrated below.

[0058] First type of layout sequence: like Figure 9 As shown, along the X-axis, the battery strings 20 in each column 20 are placed sequentially from bottom to top, although they can also be placed sequentially from top to bottom. During this process, the placement point of the battery string grasping unit 100 remains constant. The first linear module 211 drives the photovoltaic glass plate 10 to change its position in the X-axis direction, aligning the target placement position of the photovoltaic glass plate 10 with the placement point of the battery string grasping unit 100.

[0059] like Figure 10As shown, along the Y-axis, each column of battery strings 20 is placed sequentially from left to right or from right to left. During this process, the placement point of the battery string grasping unit 100 remains unchanged. When one column of battery strings 20 is arranged, the second linear module 212 drives the photovoltaic glass plate 10 to change its position in the Y-axis direction, so that the target placement position of the photovoltaic glass plate 10 is aligned with the placement point of the battery string grasping unit 100.

[0060] Overall, such as Figure 9 and Figure 10 As shown, each battery string 20 is arranged in the order of number 1-6, and then number 7-12.

[0061] The second type of layout sequence: like Figure 11 As shown, similarly, along the X-axis, the battery strings 20 in each column 20 are placed sequentially from bottom to top or from top to bottom. Along the Y-axis, the battery strings 20 are also placed sequentially from left to right or from right to left. The difference is that after one column of battery strings 20 is arranged, the photovoltaic glass panel 10 is rotated 180° clockwise / counterclockwise along the Z-axis by the rotation drive mechanism 220, causing battery strings 1-6 to move to the right side, and then battery strings 7-12 are arranged on the left side.

[0062] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of this utility model.

[0064] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this utility model can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0065] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0066] The above embodiments merely illustrate several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A photovoltaic module cell string arrangement device, characterized in that, include: The battery string grasping unit (100) includes a picking mechanism (110) for picking up the battery string (20) and a transfer mechanism (120) for transferring the picking mechanism (110) to a single fixed working point to perform the battery string (20) placement action. The pose adjustment unit (200) includes a horizontal displacement mechanism (210), a rotary drive mechanism (220) disposed on the horizontal displacement mechanism (210), and a support frame (230) disposed on the rotary drive mechanism (220). The support frame (230) is used to support the photovoltaic glass panel (10). A visual inspection unit (300) is used to acquire the real-time pose data of the photovoltaic glass panel (10); The control unit is connected to the pose adjustment unit (200), the vision detection unit (300) and the battery string grasping unit (100). The control unit is used to drive the horizontal displacement mechanism (210) and the rotation drive mechanism (220) to dynamically adjust the pose of the photovoltaic glass plate (10) based on the real-time pose data provided by the vision detection unit (300), so that the target string placement point on the photovoltaic glass plate (10) corresponds to the single fixed working point.

2. The photovoltaic module cell string arrangement device according to claim 1, characterized in that, The horizontal displacement mechanism (210) includes a first linear module (211) and a second linear module (212) arranged orthogonally to each other. The first linear module (211) extends along a first horizontal direction, and the second linear module (212) is mounted on the sliding part of the first linear module (211) and extends along a second horizontal direction perpendicular to the first horizontal direction.

3. The photovoltaic module cell string arrangement device according to claim 1, characterized in that, The rotary drive mechanism (220) includes a servo motor direct drive assembly, the axis of rotation of which is perpendicular to the horizontal bearing surface of the support frame (230).

4. The photovoltaic module cell string arrangement device according to claim 2, characterized in that, The photovoltaic module cell string arrangement device also includes a conveying mechanism (400) for conveying the photovoltaic glass plate (10). The pose adjustment unit (200) is disposed in the conveying mechanism (400), and the pose adjustment unit (200) further includes a lifting mechanism (700), and the horizontal displacement mechanism (210) is disposed on the lifting mechanism (700); The lifting mechanism (700) has at least a high-level working state in which the bearing surface of the support frame (230) is higher than the bearing surface of the conveying mechanism (400) and a low-level working state in which the bearing surface of the support frame (230) is lower than the bearing surface of the conveying mechanism (400).

5. The photovoltaic module cell string arrangement device according to claim 4, characterized in that, The conveying mechanism (400) includes a plurality of conveyor belts (410) that convey along the first horizontal direction, and the conveyor belts (410) are arranged at intervals; The support frame (230) includes a plurality of support plates (232) extending along the first horizontal direction, each of the support plates (232) being located between the intervals of each of the conveyor belts (410).

6. The photovoltaic module cell string arrangement device according to claim 4, characterized in that, The photovoltaic module cell string arrangement device also includes a correction mechanism (500). The correction mechanism (500) includes two correction cylinders (510) arranged opposite each other on both sides of the conveying mechanism (400) along the second horizontal direction. Each correction cylinder (510) has a push rod (520) on its piston rod, and the two push rods (520) are opposite each other along the second horizontal direction.

7. The photovoltaic module cell string arrangement device according to claim 4, characterized in that, The photovoltaic module cell string arrangement device also includes a limiting stop (600). The limiting stop (600) includes two blocking cylinders (610) arranged side by side and spaced apart along the second horizontal direction. The blocking cylinders (610) are located outside the posture adjustment unit (200) in the first horizontal direction. The extension and retraction direction of the blocking cylinders (610) is vertical. Both blocking cylinders (610) are provided with stop rods (620).

8. The photovoltaic module cell string arrangement device according to claim 1, characterized in that, The picking mechanism (110) includes a fixed plate (111) and a plurality of suction cups (112) disposed on the fixed plate (111). The fixed plate (111) is configured to be a long strip that matches the shape of the battery string (20). Each of the suction cups (112) is evenly distributed along the length direction of the fixed plate (111).

9. The photovoltaic module cell string arrangement device according to claim 1, characterized in that, The transfer mechanism (120) includes a robotic hand or robotic arm with at least horizontal and vertical degrees of freedom.

10. The photovoltaic module cell string arrangement device according to claim 1, characterized in that, The visual detection unit (300) includes one or more CCD cameras (310), which are located above the pose adjustment unit (200) and are used to capture images of the photovoltaic glass panel (10) in real time.

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