CN116275472A

CN116275472A - Automatic feeding and discharging processing equipment and method for solar substrate

Info

Publication number: CN116275472A
Application number: CN202310440416.4A
Authority: CN
Inventors: 张立; 王冲; 周建红
Original assignee: Shenzhen Guihua Intelligent Technology Co ltd
Current assignee: Shenzhen Guihua Intelligent Technology Co ltd
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-06-23

Abstract

The invention relates to the technical field of solar substrate production, in particular to automatic feeding and discharging processing equipment and method for a solar substrate. The device comprises a flower basket feeding and discharging machine and a laser processing host machine, wherein the flower basket feeding and discharging machine comprises a flower basket feeding module, a flower basket discharging module, a feeding transverse carrying module and a discharging transverse carrying module, and the laser processing host machine comprises a flower basket lifting and feeding mechanism, a flower basket lifting and discharging mechanism, a telescopic conveying mechanism, a material alignment mechanism, a material buffering mechanism, a material carrying mechanism, a double-station carrying platform, a visual positioning mechanism, a laser processing mechanism, a NG receiving mechanism and a detection mechanism. According to the invention, through the mutual matching of the basket loading and unloading machine and the laser processing host machine, the automatic loading and unloading of the basket is realized, the automatic conveying, processing and basket loading processes of the solar substrate are realized, the whole process is fast and efficient, the manual participation is not needed, the production efficiency is greatly improved, and the error rate is also reduced.

Description

Automatic feeding and discharging processing equipment and method for solar substrate

Technical Field

The invention relates to the technical field of solar substrate production, in particular to automatic feeding and discharging processing equipment and method for a solar substrate.

Background

In the production process of the solar substrates, after the flower basket with the solar substrates is conveyed to a station, each solar substrate is taken out and conveyed to laser equipment for processing, and the processed solar substrates are collected into the flower basket uniformly for carrying. The traditional basket carrying and solar substrate feeding processing adopts a manual operation mode, so that the production efficiency is low, the labor intensity of manual operation is high, and the solar substrate is easily damaged by mistakes, so that the production cost is high. Therefore, with the development of automation, how to use automation equipment to replace manual feeding and processing of solar substrates becomes a problem to be solved.

Disclosure of Invention

The invention provides automatic loading and unloading processing equipment and method for a solar substrate, and aims to solve the problems in the prior art.

The invention provides automatic feeding and discharging processing equipment for a solar substrate, which comprises a flower basket feeding and discharging machine and a laser processing host machine, wherein the flower basket feeding and discharging machine comprises a flower basket feeding module, a flower basket discharging module, a feeding transverse carrying module and a discharging transverse carrying module, the laser processing host machine comprises a flower basket lifting and feeding mechanism, a flower basket lifting and discharging mechanism, a telescopic conveying mechanism, a material counterpoint mechanism, a material caching mechanism, a material carrying mechanism, a double-station carrying platform, a visual positioning mechanism, a laser processing mechanism, a NG receiving mechanism and a detection mechanism, the double-station carrying platform is provided with a laser processing station, a feeding station and a discharging station, the visual positioning mechanism and the laser processing mechanism are arranged above the laser processing stations of the double-station conveying platform, the flower basket feeding module, the feeding transverse conveying module, the flower basket lifting feeding mechanism, the telescopic conveying mechanism, the material alignment mechanism, the detection mechanism, the NG receiving mechanism, the material caching mechanism, the material conveying mechanism and the feeding stations of the double-station conveying platform are sequentially in butt joint to form a feeding assembly line, and the discharging stations, the material conveying mechanism, the material caching mechanism, the detection mechanism, the NG receiving mechanism, the material alignment mechanism, the telescopic conveying mechanism, the flower basket lifting discharging mechanism, the discharging transverse conveying module and the flower basket discharging module are sequentially in butt joint to form a discharging assembly line.

As a further improvement of the invention, each flower basket feeding module comprises a plurality of groups of flower basket feeding conveying lines which are arranged in an aligned manner, each flower basket discharging module comprises a plurality of groups of flower basket discharging conveying lines which are arranged in an aligned manner, each flower basket feeding conveying line comprises a common feeding section and an accelerating feeding section, the common feeding section is in butt joint with the accelerating feeding section, the feeding transverse carrying module is in butt joint with a plurality of groups of accelerating feeding sections of the flower basket feeding conveying lines, the discharging transverse carrying module is in butt joint with a plurality of groups of flower basket discharging conveying lines, and the tail end of the feeding direction of the common feeding section is provided with a feeding blocking cylinder.

As a further improvement of the invention, the feeding transverse conveying module and the discharging transverse conveying module are formed by two transverse conveying modules arranged in the feeding direction and the discharging direction of the flowers, the transverse conveying modules comprise transverse straight-line modules, transverse conveying sliding blocks, transverse conveying belts and transverse conveying blocking air cylinders, the transverse straight-line modules transversely span multiple groups of flower basket feeding conveying lines or multiple groups of flower basket discharging conveying lines, the transverse conveying sliding blocks are connected with the transverse straight-line modules in a sliding mode, the transverse conveying belts are connected to the transverse conveying sliding blocks, and when the transverse straight-line modules drive the transverse conveying sliding blocks to one group of flower basket feeding conveying lines or flower basket discharging conveying lines, the transverse conveying belts are in butt joint with the flower basket feeding conveying lines or the flower basket discharging conveying lines, and the transverse conveying blocking air cylinders are connected to the transverse conveying sliding blocks and block flower baskets on the transverse conveying belts.

As a further improvement of the invention, the double-station carrying platform comprises a double-movable-carrier transferring module, a carrying jig for placing the solar substrate and a movable-element sliding block, wherein the double-movable-carrier transferring module is connected with two groups of movable-element sliding blocks in a sliding manner, the carrying jig is connected to the movable-element sliding blocks, and the double-movable-carrier transferring module drives the carrying jig to move among a feeding station, a discharging station and a laser processing station through the movable-element sliding blocks.

As a further improvement of the invention, the double-station carrying platform further comprises a backlight light source for matching with the visual positioning mechanism to take images, a light hole is arranged at the vertex angle of the carrying jig, and the backlight light source is positioned below the light hole.

As a further improvement of the invention, the carrying jig comprises a jig flat plate, a leveling supporting plate, an adjusting screw, an adjusting outer nut, an adjusting knob and a locking bolt, wherein the leveling supporting plate is arranged on a rotor sliding block, the jig flat plate is connected to the leveling supporting plate, the leveling supporting plate is provided with a leveling hole site, the adjusting outer nut is fixed in the leveling hole site, one end of the adjusting screw penetrates through the adjusting outer nut and then props against the jig flat plate, the adjusting screw is connected with the adjusting outer nut through threads, the other end of the adjusting screw is connected with the adjusting knob, and the locking bolt is connected to the bottom of the adjusting knob.

As a further improvement of the invention, the material handling mechanism comprises a handling support, a material handling module, a sucker support, a material sucker and a sucker leveling assembly, wherein the material handling module is connected to the handling support, the sucker support is connected to the material handling module in a sliding manner, at least one material sucker is connected to the sucker support, one end of the sucker leveling assembly is fixed on the sucker support, and the other end of the sucker leveling assembly is propped against the material sucker to adjust the angle of the material sucker.

As a further improvement of the invention, the NG material receiving mechanism comprises a material receiving bracket, a material receiving and conveying module, a material receiving sucker and a material receiving jig, wherein the material receiving and conveying module is arranged on the material receiving bracket, the material receiving sucker is connected to the material receiving and conveying module in a sliding manner, the material receiving jig is arranged on one side of a discharging assembly line, and the material receiving and conveying module drives the material receiving sucker to move between the discharging assembly line and the material receiving jig; the detection mechanism comprises a detection support and a detection camera used for detecting whether the solar substrate has broken pieces or hidden cracks or not, wherein the detection support spans and is installed above an upper material loading assembly line and a lower material loading assembly line, and a plurality of detection cameras are connected to the detection support.

As a further improvement of the invention, the visual positioning mechanism comprises a visual positioning bracket and a visual positioning camera for positioning the solar substrate to be processed, wherein the visual positioning bracket is arranged above the laser processing station of the double-station carrying platform, and the visual positioning camera is connected to the visual positioning bracket and is aligned to the double-station carrying platform.

The invention also provides a solar substrate automatic feeding and discharging processing method, which is based on the solar substrate automatic feeding and discharging processing equipment and comprises the following steps:

s1, a basket feeding process: the AGV conveys the basket filled with the solar substrate raw materials to a basket feeding module, a common speed feeding section of a basket feeding conveying line is connected with the basket, the basket positioned in front enters an acceleration feeding section and is conveyed to a feeding transverse carrying module, meanwhile, a feeding blocking cylinder blocks the basket behind the common speed feeding section, and the feeding transverse carrying module returns to and receives the next basket after conveying the basket to a basket lifting feeding mechanism;

s2, fixing the flower basket by the flower basket lifting and feeding mechanism, and enabling the telescopic conveying mechanism to catch the solar substrates in the flower basket, wherein after one solar substrate is taken out, the flower basket lifting and feeding mechanism drives the flower basket to descend so that the next solar substrate is abutted against the telescopic conveying mechanism;

S3, centering and aligning the solar substrate of the feeding assembly line by the material aligning mechanism;

s4, detecting defects of the solar substrate raw materials by the detecting mechanism, and taking away the solar substrate by the NG material receiving mechanism when the defective solar substrate is detected;

s5, a material buffer mechanism of a feeding assembly line performs the following substeps:

if the materials in front of the feeding assembly line are piled up, the material caching mechanism caches the solar substrate raw materials;

if the materials in front of the feeding assembly line are absent, the material caching mechanism releases cached solar substrate raw materials;

if the materials in front of the feeding assembly line are neither accumulated nor absent, the material caching mechanism does not act;

s6, after the material handling mechanism grabs the solar substrate raw materials on the feeding assembly line, transferring the solar substrate raw materials to a handling jig of a double-station handling platform on the feeding station;

s7, carrying out the following substeps by the double-station carrying platform:

if no other solar substrates are processed at the laser processing station, driving the carrying jig to move to the laser processing station, and performing laser processing on the solar substrates by the laser processing mechanism after the initial positioning of the visual positioning mechanism; after the solar substrate clinker is taken away by a material handling mechanism of a discharging assembly line, the material handling mechanism is driven to return to a feeding station to wait for feeding of the next batch of solar substrates;

If other solar substrates are processed on the laser processing station, the carrying jig is not driven to act, and the laser processing station is waited to execute the action when idle;

s8, the material handling mechanism grabs the solar substrate clinker on the blanking station of the double-station handling platform and then transfers the solar substrate clinker to a blanking assembly line;

s9, a material buffer mechanism of a blanking assembly line performs the following substeps:

if the materials in front of the blanking assembly line are piled up, the material caching mechanism caches the solar substrate clinker;

if the materials in front of the blanking assembly line are absent, the material caching mechanism releases the cached solar substrate clinker;

if the materials in front of the blanking assembly line are neither accumulated nor absent, the material caching mechanism does not act;

s10, defect detection is carried out on the solar substrate clinker by the detection mechanism, and when the defective solar substrate is detected, the solar substrate is taken away by the NG material receiving mechanism;

s11, centering and aligning the solar substrate of the blanking assembly line by a material aligning mechanism;

s12, the telescopic conveying mechanism sequentially conveys the solar substrate clinker into empty flower baskets, and when one solar substrate is put into the flower basket, the flower basket lifting and discharging mechanism drives the flower basket to lift so that the next empty slot is in butt joint with the telescopic conveying mechanism;

S13, after the basket is filled with the solar substrate clinker, the basket lifting and lowering discharging mechanism conveys the basket to the discharging transverse conveying module, and then the basket is conveyed to a group of basket discharging conveying lines of the basket discharging module.

The beneficial effects of the invention are as follows: through mutual cooperation of the flower basket feeding and discharging machine and the laser processing host machine, automatic feeding and discharging of the flower basket is realized, automatic conveying, processing and basket loading processes of the solar substrate are realized, the whole process is fast and efficient, manual participation is not needed, the production efficiency is greatly improved, and the error rate is also reduced.

Drawings

FIG. 1 is a whole structure diagram of an automatic loading and unloading processing device for a solar substrate;

FIG. 2 is a block diagram of a multi-group basket loader-unloader in the present invention;

FIG. 3 is a block diagram of a single set of basket loading and unloading machine according to the present invention;

FIG. 4 is a block diagram of a lateral transport module according to the present invention;

FIG. 5 is a block diagram of a laser processing host in accordance with the present invention;

FIG. 6 is a top view of the laser processing mainframe of the present invention;

FIG. 7 is a diagram of the structure of the loading and unloading assembly line in the laser processing host machine of the present invention;

FIG. 8 is a block diagram of a basket loading mechanism and a basket unloading mechanism in the present invention;

FIG. 9 is a block diagram of the telescoping transport mechanism of the present invention;

FIG. 10 is a block diagram of a material alignment mechanism in accordance with the present invention;

FIG. 11 is a block diagram of a material caching mechanism in accordance with the present invention;

FIG. 12 is a block diagram of a materials handling mechanism according to the present invention;

FIG. 13 is a block diagram of a suction cup support and a material suction cup in the material handling mechanism of the present invention;

FIG. 14 is a block diagram of a suction cup leveling assembly in a materials handling mechanism of the present invention;

FIG. 15 is a block diagram of a dual carrier platform of the present invention;

FIG. 16 is a block diagram of a transfer platform according to the present invention;

FIG. 17 is a block diagram of a dock leveler structure of the present invention;

fig. 18 is a structural diagram of an NG collecting mechanism in the invention.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.

As shown in fig. 1 to 2 and fig. 5 to 7, the automatic loading and unloading processing equipment for solar substrates of the invention comprises a basket loading and unloading machine 11 and a laser processing host 12, wherein the basket loading and unloading machine 11 comprises a basket feeding module 21, a basket discharging module 22, a feeding transverse carrying module 231 and a discharging transverse carrying module 232, the laser processing host 12 comprises a basket lifting and loading mechanism 31, a basket lifting and unloading mechanism 32, a telescopic conveying mechanism 4, a material aligning mechanism 5, a material caching mechanism 6, a material carrying mechanism 7, a double-station carrying platform 8, a visual positioning mechanism 91, a laser processing mechanism 92, a NG receiving mechanism 933 and a detecting mechanism 94, the double-station carrying platform 8 is provided with a laser processing station, a loading station and a unloading station, the visual positioning mechanism 91 and the laser processing mechanism 92 are arranged above the laser processing stations of the double-station carrying platform 8, the basket feeding module 21, the feeding transverse carrying module 231, the basket lifting feeding mechanism 31, the telescopic conveying mechanism 4, the material aligning mechanism 5, the detecting mechanism 94, the NG receiving mechanism 933, the material buffering mechanism 6, the material carrying mechanism 7 and the feeding stations of the double-station carrying platform 8 are sequentially abutted to form a feeding assembly line, and the discharging stations of the double-station carrying platform 8, the material carrying mechanism 7, the material buffering mechanism 6, the detecting mechanism 94, the NG receiving mechanism 933, the material aligning mechanism 5, the telescopic conveying mechanism 4, the basket lifting discharging mechanism 32, the discharging transverse carrying module 232 and the basket discharging module 22 are sequentially abutted to form a discharging assembly line.

The automatic feeding and discharging processing equipment for the solar substrate further comprises a dust remover 13 and a water cooler 14, wherein the dust remover 13 is mainly used for dust adsorption in the laser processing process, and the water cooler 14 is used for realizing the cooling effect in the working of a laser processing mechanism.

As shown in fig. 2 and 3, each basket feeding module 21 includes a plurality of groups of basket feeding conveying lines 211 arranged in alignment, each basket discharging module 22 includes a plurality of groups of basket discharging conveying lines 221 arranged in alignment, each basket feeding conveying line 211 includes a general feeding section 212 and an accelerating feeding section 213, the general feeding section 212 is in butt joint with the accelerating feeding section 213, the feeding transverse handling module 231 is in butt joint with the accelerating feeding section 213 of the plurality of groups of basket feeding conveying lines 211, the discharging transverse handling module 232 is in butt joint with the plurality of groups of basket discharging conveying lines 221, and the feeding direction end of the general feeding section 212 is provided with a feeding blocking cylinder 214.

The common speed feeding section 212 includes a common speed motor 2121, a first feeding conveyor 2122, and a first feeding rib 2123, and a driving wheel of the common speed motor 2121 is connected to the first feeding conveyor 2122, and the first feeding rib 2123 is provided on both sides of the first feeding conveyor 2122. The common speed motor 2121 drives the first feed conveyor 2122 slower than the common speed feed section 213, the first feed conveyor 2122 can simultaneously place a plurality of baskets 15, and the first feed flange 2123 limits the positions of the plurality of baskets 15 to be aligned centrally on the first feed conveyor 2122.

The acceleration feeding section 213 includes an acceleration motor 2131, a second feeding conveyor 2132, and a second feeding rib 2133, and a driving wheel of the acceleration motor 2131 is connected to the second feeding conveyor 2132, and the second feeding rib 2133 is disposed on both sides of the second feeding conveyor 2132. The accelerating motor 2131 drives the first feed conveyor 2122 faster than the common feed section 212, the second feed conveyor 2132 passes only one basket 15 at a time, and the second feed flange 2133 positions the basket 15 to center it on the second feed conveyor 2132 and interfaces to the carry conveyor 35.

The discharge conveying line 221 comprises a discharge motor 2211, a discharge conveying belt 2212 and a discharge flange 2213, wherein a driving wheel of the discharge motor 2211 is connected with the discharge conveying belt 2212, and the discharge flange 2213 is arranged on two sides of the discharge conveying belt 2212. The whole discharging conveying line 221 conveys the flower baskets 15 by the discharging conveying belt 2212, the common speed section and the accelerating section are not divided, and the discharging flange 2213 limits the flower baskets 15 on the discharging conveying belt 2212 so that the flower baskets 15 are aligned in the middle.

The basket loading and unloading machine 11 adopts a plurality of conveying lines to complete loading and unloading of the baskets, thereby meeting the requirement of loading and unloading of a greater number of baskets 15; the transverse carrying module 23 can be freely switched among a plurality of conveying lines, and when the basket 15 of one conveying line finishes feeding or discharging, the operation of the other conveying line is immediately switched, so that the feeding and discharging processes are continuously executed, and the production efficiency is improved.

As shown in fig. 4, the feeding transverse-moving module 231 and the discharging transverse-moving module 232 are formed by two transverse-moving modules 23 arranged in the feeding direction and the discharging direction of the flower basket, the transverse-moving modules 23 comprise a transverse straight-line module 233, a transverse-moving sliding block 234, a transverse-moving conveying belt 235 and a transverse-moving blocking cylinder 236, the transverse straight-line module 233 spans across a plurality of groups of flower basket feeding conveying lines 211 or a plurality of groups of flower basket discharging conveying lines 221, the transverse-moving sliding block 234 is in sliding connection with the transverse straight-line module 233, the transverse-moving conveying belt 235 is connected to the transverse-moving sliding block 234, and when the transverse-line module 233 drives the transverse-moving sliding block 234 to one group of flower basket feeding conveying lines 211 or flower basket discharging conveying lines 221, the transverse-moving blocking cylinder 236 is connected to the transverse-moving sliding block 234 and blocks the flower basket on the transverse-moving conveying belt 235.

The lateral transport module 23 further includes lateral transport ribs 237, the lateral transport ribs 237 being attached to the lateral transport slide 234 and located on opposite sides of the lateral transport conveyor 235. The edges at two ends of the transverse carrying flange 237 are also provided with chamfers, so that the basket 15 can be guided to enter the transverse carrying conveyor belt 235, and when the transverse carrying sliding block 234 transversely moves, the bottom of the basket 15 is limited by the transverse carrying flange 237, so that the basket 15 is prevented from sliding off from the transverse carrying conveyor belt 235.

The transverse linear module 233 drives the transverse carrying sliding blocks 234 to transversely switch and move among the plurality of flower basket feeding conveying lines 211 or flower basket discharging pipelines 21, and the flower baskets 15 are in butt joint and transfer through the transverse carrying conveying belt 235, when one of the flower basket feeding pipelines 11 or the flower basket discharging pipelines 21 finishes feeding or discharging, the novel flower basket feeding pipeline 11 or the flower basket discharging pipeline 21 can be switched to, and uninterrupted efficient feeding and discharging operation is realized. The transverse carrying blocking cylinder 236 is mainly used for blocking the basket 15 on the transverse carrying conveyor belt 235 and preventing the basket 15 from flowing out in an overdriving way.

The flower basket feeding and discharging machine 11 adopts an upper layer and a lower layer, wherein the upper layer is matched with a flower basket feeding module 21 and a feeding transverse carrying module 231, and the flower basket 15 filled with raw materials is conveyed to a flower basket lifting and feeding mechanism 31; the lower layer is matched with the basket discharging module 22 and the discharging transverse carrying module 232, and after the basket 15 is filled with clinker, the basket lifting and discharging mechanism 32 sends the basket 15 to the lower layer to be in butt joint with the discharging transverse carrying module 232. The upper layer receives 10 raw material flower baskets 15 at a time, and the lower layer can receive 10 clinker flower baskets 15 at a time; the upper basket feeding conveying line 211 is divided into a common speed feeding section 212 and an accelerating feeding section 213, the common speed feeding section 212 receives 10 baskets 15 on the AGV, the accelerating feeding section 213 realizes the pulling distance with the rear basket 15 through acceleration so as to convey the baskets one by one into the laser processing host 12, and after the acceleration, the feeding blocking cylinder 214 extends out to prevent the rear basket 15 from flowing through together; the lower basket discharging conveying line 221 has no accelerating section conveying line, can progressively receive the clinker baskets 15 one by one until 5 baskets are simultaneously left and right, and then notifies the AGV to automatically receive 10 clinker baskets 15; the transverse carrying module 233 mainly realizes the switching of the left and right conveying lines, sequentially takes out 5 flower baskets 15, and then switches to the other side conveying line to receive the flower basket 15.

As shown in fig. 8, the basket lifting and feeding mechanism 31 and the basket lifting and discharging mechanism 32 comprise a basket Z-axis lifting module 33, a basket conveying line 34, a basket compressing cylinder 35, an adjustable flange 36 and a basket in-place sensor 37, wherein the basket conveying line 34 is slidably connected to the basket Z-axis lifting module 33, the basket compressing cylinder 35 is arranged above the basket conveying line 34, the adjustable flange 36 is located on two sides of the basket conveying line 34, the basket in-place sensor 37 is arranged at the front end of the basket conveying line 34, and when the basket in-place sensor 37 senses that a basket is placed on the basket conveying line 34, the basket compressing cylinder 35 drives to compress the basket downwards.

The basket lifting and feeding mechanism 31 is abutted against the feeding transverse carrying module 231 of the basket loading and unloading machine 11, when the basic basket filled with solar energy is sent to the basket lifting and feeding mechanism 31, the basket conveying line 34 is connected with the basket and conveyed to the corresponding station, the adjustable flange 36 positions the basket, and when the basket in-place sensor 37 senses that the basket is conveyed to the designated position, the basket pressing cylinder 35 clamps the basket downwards. The inside multilayer structure that is equipped with of basket, every layer corresponds and places a solar substrate raw material, and in the in-process of follow-up material loading, flexible transport mechanism 4 can take away the solar substrate of one deck at every turn, take away back basket Z axle lifting module 33 can drive the basket and descend the height of one deck, makes the solar substrate of new one deck can align flexible transport mechanism 4, makes things convenient for the material loading of next time.

The basket lifting and lowering mechanism 32 is in butt joint with clinker conveyed by the telescopic conveying mechanism 4, the clinker of each solar substrate is correspondingly placed on each layer of the basket 15, after one layer of the basket 15 is placed, the basket Z-axis lifting module 33 can drive the basket to lift by one layer of height so as to align the basket to the telescopic conveying mechanism 4, after the whole basket 15 is filled, the basket pressing cylinder 35 drives the adjustable flange 36 to loosen the basket 15, the basket conveying line 34 sends out the basket and is in butt joint with the discharging transverse conveying module 232 of the basket loading and unloading machine 11, and the unloading of the basket is completed.

As shown in fig. 9, the telescopic conveying mechanism 4 is in butt joint with the basket lifting and feeding mechanism 31 or the basket lifting and discharging mechanism 32, the telescopic conveying mechanism 4 comprises a telescopic bracket 41, a conveying motor 42, a driving wheel 43, a first driven wheel 44, a second driven wheel 45, a third driven wheel 46, a belt 47 and a telescopic sliding block 48, the conveying motor 42 is arranged on the telescopic bracket 41, the telescopic sliding block 48 is in sliding fit with the telescopic bracket 41, the driving wheel 43 is connected with the conveying motor 42 through a transmission belt, the first driven wheel 44 is connected to the telescopic bracket 41, the second driven wheel 45 and the third driven wheel 46 are connected to the telescopic sliding block 48, and the belt 47 is tensioned on the driving wheel 43, the first driven wheel 44, the second driven wheel 45 and the third driven wheel 46.

In the feeding and discharging processes of the basket 15, the telescopic conveying mechanism 4 is in a retracted state, a space is reserved for the basket lifting and feeding mechanism 31 or the basket lifting and discharging mechanism 32, and when the basket 15 is stably placed, the telescopic conveying mechanism 4 stretches out each layer of the butt-joint basket. When feeding, the cylinder drives the telescopic sliding block 48 to extend outwards along the telescopic sliding rail 49 on the telescopic bracket 41, the belt 47 also extends outwards along the telescopic sliding block 48, when the telescopic sliding block slides to be in butt joint with the interior of the flower basket, the belt 47 stops to acquire a piece of solar substrate and conveys the solar substrate forwards, and the flower basket lifting and feeding mechanism 31 descends one layer after each piece of solar substrate is taken, so that automatic feeding of the solar substrate is realized; when the material is discharged, contrary to the material loading, the cylinder drives the telescopic sliding block 48 to extend outwards along the sliding rail on the telescopic bracket 41, the belt 47 also extends outwards along the telescopic sliding block 48, the belt 47 conveys the solar substrate into the flower basket, and the flower basket lifting and discharging mechanism 32 ascends one layer after each solar substrate is placed, so that the material is repeatedly discharged, and the automatic discharging of the sheet material is realized.

As shown in fig. 10, the material alignment mechanism 5 includes an alignment bracket 51, an alignment motor 52, a connecting rod 53, a swing arm 54, a clamping arm 55, an alignment roller 56, and a clamping sensor 57, wherein the alignment motor 52 is mounted on the alignment bracket 51, two sets of alignment clamping arms 55 are slidably connected on the alignment bracket 51, the middle part of the swing arm 54 is connected on the output shaft of the alignment motor 52, two ends of the swing arm 54 are respectively hinged with one end of one connecting rod 53, the other end of the connecting rod 53 is hinged with the clamping arm 55, the alignment roller 56 is connected on the clamping arm 55, and the clamping sensor 57 is connected on the alignment bracket 51 and senses the rotation angle of the swing arm 54. The material alignment mechanism 5 further includes an alignment guide 581 and an alignment slide 582, the alignment guide 581 is fixed on the alignment bracket 51, the clamping arm 55 is fixed on the alignment slide 582, and the sliding connection of the clamping arm 55 relative to the alignment bracket 51 is realized through the cooperation between the alignment slide 582 and the alignment guide 581.

The material alignment mechanism 5 is arranged at the feeding and discharging assembly line, after the solar substrate is conveyed to the material alignment mechanism 5, the swing arm 54 is driven to swing through the alignment motor 52, and the clamping arm 55 is driven to perform centering translation along the alignment guide rail 581 through the connecting rod 53, so that the solar substrate is clamped in a centering manner, the centering alignment of the solar substrate is realized, and the position consistency of the solar substrate is improved.

The material alignment mechanism 5 further comprises two edge finding sensing units 59 which are symmetrical front and back, the edge finding sensing units 59 are connected to the alignment bracket 51 through a mounting frame, the two edge finding sensing units 59 which are symmetrical front and back are arranged on the front side and the back side of one of the clamping arms 55, the front and the back directions are the conveying direction of a conveying belt for conveying the solar substrate, the left and the right directions are perpendicular to the conveying direction of the conveying belt for conveying the solar substrate, and the two clamping arm 55 mechanisms are symmetrically arranged along the central axis of the conveying mechanism 2 for conveying the sheet material.

Whether the solar substrate is not aligned regularly or has deviation or has a bevel edge can be detected by the edge finding sensing units 59, when the two edge finding sensing units 59 detect the solar substrate, the edge of the solar substrate is aligned regularly, when only one edge finding sensing unit 39 detects the solar substrate, the position of the solar substrate is deviated, the bevel edge exists, and the alignment is not regular, and at the moment, an alarm prompt is given.

As shown in fig. 11, the material buffer mechanism 6 includes a buffer support 61, a buffer material frame 62, a buffer Z-axis lifting module 63, and a buffer segment conveying line 64, where the buffer Z-axis lifting module 63 is connected to the buffer support 61, the buffer material frame 62 is slidably connected to the buffer Z-axis lifting module 63, a tooth for placing a solar substrate is disposed on a side wall of an inner cavity of the buffer material frame 62, and the buffer material frame is sleeved on the buffer segment conveying line 64 and lifts relative to the buffer segment conveying line 64.

The material buffer mechanism 6 can be arranged on a feeding assembly line for feeding buffer, and can also be arranged on a discharging assembly line for discharging buffer.

When the front materials are piled up and the solar substrates need to be cached, the cache material frame 62 is driven to ascend by the cache Z-axis lifting module 63, so that the solar substrates which are excessive on the production line are cached on the cache material frame 62; when the front material is insufficient and the buffered solar substrate needs to be released, the buffer frame 62 is driven to descend by the buffer Z-axis lifting module 63, so that the solar substrate is released on the buffer section conveying line 64. Similarly, when the basket of flowers needs to be replaced, the buffered solar substrates are released to supplement materials in the feeding assembly line, when the basket of flowers needs to be replaced, the solar substrates are buffered to the buffer storage material frame 62, and after the empty basket of flowers is replaced, the solar substrates are released to the discharging assembly line.

As shown in fig. 12 and 13, the material handling mechanism 7 includes a handling bracket 71, a material handling module 72, a suction cup bracket 73, a material suction cup 74, and a suction cup leveling assembly 75, the material handling module 72 is connected to the handling bracket 71, the suction cup bracket 73 is slidably connected to the material handling module 72, the suction cup bracket 73 is connected to at least one material suction cup 74, one end of the suction cup leveling assembly 75 is fixed to the suction cup bracket 73 and the other end thereof is abutted to the material suction cup 74 to adjust the angle of the material suction cup 74.

The material handling module 72 includes a handling linear motor 721 and a handling slider 722, the handling linear motor 721 is mounted on the handling support 71, the suction cup support 73 is mounted on the handling slider 722, and the handling linear motor 721 is slidably connected to the handling slider 722, so that the handling linear motor 721 can drive the plurality of material suction cups 74 to feed between the conveying mechanism 2 and the dual-station conveying platform 8. The suction cup support 73 can also be provided with a vacuum gauge 76 to monitor the vacuum level of the material suction cup 74 in real time.

As shown in fig. 14, the suction cup leveling assembly 75 includes a leveling nut 751, a leveling jack screw 752 and a leveling fixing plate 753, wherein the leveling nut 751 is fixedly connected to the leveling fixing plate 753, the leveling jack screw 752 is in threaded connection with the leveling nut 751, and a jack 756 of the leveling jack screw 752 passes through the leveling fixing plate 753 and is in contact connection with the top of the material suction cup 74. Through screwing the leveling jackscrew 752, the leveling jackscrew 752 can move along the fine adjustment of the threads on the leveling nut 751 relatively up and down to adjust the depth of the leveling jackscrew 752 against the material sucker 74, so that the leveling effect on the material sucker 74 is achieved, in practical application, a plurality of positions of the material sucker 74 can be uniformly supported by a plurality of leveling jackscrews 752, and thus the leveling effect can be conveniently and rapidly achieved from a plurality of angles of the material sucker 74.

The leveling jack screw 752 is provided with a threading recess 754 for a docking wrench. When leveling operation is performed, a wrench or other tool is inserted into the screwing groove 754 to rotate the leveling jackscrew 752 to adjust the position of the leveling nut 751, and the leveling operation is simple and convenient.

The suction cup leveling assembly 75 further includes a set screw 755, the set screw 755 being threadably connected to the side of the leveling nut 751, the set screw 755 abutting the side of the leveling jack 752 when tightened. After the position of each leveling jackscrew 752 relative to the leveling nut 751 is adjusted to level the whole material sucker 74, the position of the leveling jackscrew 752 is fixed by screwing the elastic screw 755, so that the deviation of the grabbing angle of the material sucker 74 caused by loosening of the leveling jackscrews 752 in the moving process of the material sucker module 3 is prevented, and the material cannot be accurately grabbed.

When the solar substrate raw materials need to be carried, the carrying linear motor 721 of the raw material end material carrying module 72 drives the material sucker 74 to move to the feeding assembly line through the carrying slider 722, vacuum is pumped to the single material sucker 74 to generate suction force to suck the single solar substrate, meanwhile, the vacuum meter 76 can display vacuum data on the material sucker 74 at the moment, whether the material sucker 74 absorbs materials or not is confirmed through the vacuum data, if the material sucker 74 does not absorb materials well, a warning prompt is given, if the material sucker is not absorbed well, the carrying linear motor 721 drives the material sucker 74 to move to the double-station carrying platform 8, vacuumizing to the material sucker 74 is stopped to separate the solar substrate, and the solar substrate is placed on a jig corresponding to the double-station carrying platform 8.

When the solar substrate clinker is required to be unloaded, the conveying linear motor 721 of the clinker end material conveying mechanism 5 drives the material sucker 74 to move to the double-station conveying platform 8 through the conveying sliding block 722, the material sucker 74 is vacuumized to generate suction force to suck the single solar substrate, meanwhile, the vacuum meter 76 can display vacuum data on the material sucker 74 at the moment, whether the material sucker 74 absorbs materials or not is confirmed through the vacuum data, if the material sucker 74 does not absorb materials well, a warning prompt is given, if the material sucker is not absorbed well, the conveying linear motor 721 drives the material sucker 74 to move to the blanking assembly line, and vacuumizing of the material sucker 74 is stopped to separate the solar substrate.

As shown in fig. 15, the dual-station carrying platform 8 comprises a dual-moving carrier module 81, a carrying jig 82 for placing a solar substrate, and a mover slide 83, wherein the dual-moving carrier module 81 is slidably connected with two groups of mover slide 83, the carrying jig 82 is connected to the mover slide 83, and the dual-moving carrier module 81 drives the carrying jig 82 to move among a feeding station, a discharging station and a laser processing station through the mover slide 83.

The double-station carrying platform 8 is provided with two groups of runner sliders 83, the two runner sliders 83 correspond to the two loading and unloading production lines respectively, the double-runner transfer module 81 can drive one group of runner sliders 83 to move among the loading station, the unloading station and the laser processing station respectively, and the two groups of runner sliders 83 work alternately to realize efficient loading and processing of the solar substrate. A plurality of carrying jigs 82 may be disposed on each mover slider 83, each carrying jig 82 is used for placing a solar substrate, and each carrying jig 82 corresponds to one laser processing head. According to the number of the laser processing heads, a plurality of double-station carrying platforms 8 can be arranged to correspond to the plurality of laser processing heads, and the material carrying mechanism 5 alternately feeds and feeds the plurality of double-station carrying platforms 8.

The visual positioning mechanism 91 comprises a visual positioning bracket 911 and a visual positioning camera 912 for positioning the solar substrate to be processed, the visual positioning bracket 911 is arranged above the laser processing station of the double-station carrying platform 8, and the visual positioning camera 912 is connected to the visual positioning bracket 911 and aligned with the double-station carrying platform 8.

As shown in fig. 16, the dual-station carrying platform 8 further includes a backlight light source 84 for matching with the focusing vision positioning camera 912 to take an image, light holes 85 are provided at two vertex angles of the carrying jig 82, and the backlight light source 84 is located below the light holes 85. Before the solar substrate on the carrying jig 82 is sent to the lower part of the laser processing station, the vision positioning camera 912 positions the position of the solar substrate through the backlight light source 84 at the light hole 85 of the carrying jig 82, so that the laser processing mechanism 92 can accurately process the surface of the solar substrate through positioning.

As shown in fig. 17, the carrying jig 82 includes a jig flat plate 821, a leveling support plate 822, an adjusting screw 823, an adjusting external nut 824, an adjusting knob 825, and a locking bolt 826, the leveling support plate 822 is mounted on the mover slider, the jig flat plate 821 is connected to the leveling support plate 822, the leveling support plate 822 is provided with a leveling hole site, the adjusting external nut 824 is fixed in the leveling hole site, one end of the adjusting screw 823 passes through the adjusting external nut 824 and then props against the column jig flat plate 821, the adjusting screw 823 is connected with the adjusting external nut 824 through threads, the other end of the adjusting screw 823 is connected with the adjusting knob 825, and the locking bolt 826 is connected to the bottom of the adjusting knob 825. The adjustment screw 823, adjustment outer nut 824, adjustment knob 825, and lock bolt 826 together comprise an intuitive leveling assembly 827.

The adjusting screw 823 can be driven to rotate relative to the adjusting outer nut 824 through the adjusting knob 825, and the jacking or descending of the adjusting screw 823 is realized in a threaded connection mode, so that the jacking height of the jig flat plate 821 is controlled, after the adjustment is finished, the position of the adjusting knob 825 is fixed through the locking bolt 826, the movement of the adjusting screw 823 caused by loosening of the adjusting knob 825 is avoided, and the jig flat plate 821 is inclined. The locking bolt 826 locks from the center to avoid minor misalignments and changes in position and to achieve 0.01mm flatness adjustment. The position of the jig flat plate 821 relative to the leveling support plate 32 can be changed by controlling the leveling structure, and when the jig flat plate 821 is found to be non-horizontal before processing operation or during processing, the jig flat plate 821 can be stopped and adjusted to be in a horizontal state by manually operating the leveling structure, so that the accuracy of subsequent laser processing is ensured.

As shown in fig. 18, the NG receiving mechanism 93 includes a receiving bracket 931, a receiving carrying module 932, a receiving suction cup 933, and a receiving jig 934, the receiving carrying module 932 is mounted on the receiving bracket 931, the receiving suction cup 933 is slidably connected to the receiving carrying module 932, the receiving jig 934 is disposed on one side of the discharging assembly line, and the receiving carrying module 932 drives the receiving suction cup 933 to move between the discharging assembly line and the receiving jig 934.

The detecting mechanism 94 comprises a detecting support 941 and detecting cameras 942 for detecting whether the solar substrate has a broken piece or hidden crack defect, the detecting support 941 spans over the loading pipeline and the unloading pipeline, a plurality of detecting cameras 942 are connected to the detecting support 941, and the detecting cameras 942 are aligned to the solar substrate of the loading pipeline or the unloading pipeline. The detection camera 942 employs a CCD camera.

The detection camera 942 shoots the solar substrates passing through the assembly line in real time and feeds back the detection, if the solar substrates are detected to be normal without defects, the solar substrates are normally fed or discharged, and if the defective solar substrates are detected to pass through, the material receiving and conveying module 932 drives the material receiving sucker 933 to pick up the defective solar substrates of the assembly line and place the defective solar substrates on the material receiving jig 934 to serve as NG materials for processing.

s1, a basket feeding process: the AGV conveys the basket filled with solar substrate raw materials to a basket feeding module 21, a common speed feeding section 212 of a basket feeding conveying line 211 is connected with the basket, the basket positioned in front enters an acceleration feeding section 213 and is conveyed to a feeding transverse carrying module 231, meanwhile, a feeding blocking cylinder 214 blocks the basket behind the common speed feeding section 212, and the feeding transverse carrying module 231 returns to receive the next basket after conveying the basket to a basket lifting feeding mechanism 31;

S2, the flower basket lifting and feeding mechanism 31 is used for fixing the flower basket, the telescopic conveying mechanism 4 is used for receiving solar substrates in the flower basket, and after one solar substrate is taken out, the flower basket lifting and feeding mechanism 31 drives the flower basket to descend so that the next solar substrate is abutted against the telescopic conveying mechanism 4;

s3, centering and aligning the solar substrate of the feeding assembly line by the material aligning mechanism 5;

s4, detecting defects of the solar substrate raw materials by the detecting mechanism 94, and when the defective solar substrate is detected, taking away the solar substrate by the NG material receiving mechanism 933;

s5, a material buffer mechanism 6 of a feeding assembly line performs the following substeps:

if the materials in front of the feeding assembly line are accumulated, the material caching mechanism 6 caches the solar substrate raw materials;

if the materials in front of the feeding assembly line are absent, the material caching mechanism 6 releases the cached solar substrate raw materials;

if the materials in front of the feeding assembly line are neither accumulated nor absent, the material caching mechanism 6 does not act;

s6, after the material handling mechanism 7 grabs the solar substrate raw materials on the feeding assembly line, transferring the solar substrate raw materials to a handling jig of a double-station handling platform 8 positioned on the feeding station;

s7, carrying out the following substeps by the double-station carrying platform 8:

If no other solar substrates are being processed at the laser processing station, driving the carrying jig 82 to move to the laser processing station, and performing laser processing on the solar substrates by the laser processing mechanism 92 after the initial positioning of the visual positioning mechanism 91; after the solar substrate clinker is taken away by a material handling mechanism 7 of a discharging assembly line, the handling jig 82 is driven to move to a discharging station, and the handling jig 82 is driven to return to a charging station to wait for the charging of the next batch of solar substrates;

if other solar substrates are processed on the laser processing station, the carrying jig 82 is not driven to act, and the laser processing station is waited to execute the action when idle;

s8, the material handling mechanism 7 grabs the solar substrate clinker on the blanking station of the double-station handling platform 8 and then transfers the solar substrate clinker to a blanking assembly line;

s9, a material buffer mechanism 6 of a blanking assembly line performs the following substeps:

if the materials in front of the blanking assembly line are piled up, the material caching mechanism 6 caches the solar substrate clinker;

if the materials in front of the blanking assembly line are absent, the material caching mechanism 6 releases the cached solar substrate clinker;

if the materials in front of the blanking assembly line are neither accumulated nor absent, the material buffer mechanism 6 does not act;

S10, detecting a defect of the solar substrate clinker by a detecting mechanism 94, and taking away the solar substrate by a NG material receiving mechanism 933 when the defective solar substrate is detected;

s11, centering and aligning the solar substrate of the blanking assembly line by a material aligning mechanism 5;

s12, the telescopic conveying mechanism 4 sequentially conveys the solar substrate clinker into empty flower baskets, and when one solar substrate is put into the flower basket, the flower basket lifting and discharging mechanism 32 drives the flower basket to ascend so that the next empty slot position is in butt joint with the telescopic conveying mechanism 4;

s13, after the basket is filled with the solar substrate clinker, the basket lifting and lowering mechanism 32 conveys the basket to the discharging transverse conveying module 232, and then conveys the basket to a group of basket discharging conveying lines 221 of the basket discharging module 22, and after the basket is fully filled with the basket discharging conveying lines 221, the AGV is abutted to the basket discharging module 22 and takes away the basket.

The device is mainly used for a Topcon solar laser doping process and is special for improving the conversion rate of solar energy. The whole machine is mainly formed by serially combining a basket loading and unloading machine 11 and a laser processing main machine 12; the basket loading and unloading machine 11 is automatically connected with an AGV, the AGV can bring or convey 10 baskets last time, the raw material basket is conveyed, the clinker basket is taken away, and unmanned carrying is realized, and meanwhile, the efficiency and the intellectualization are improved; the laser processing main machine adopts 4 lasers with double channels, 2 lasers per channel, one feeding assembly line per channel and one receiving assembly line, 2pcs products are simultaneously carried or processed by each assembly line, and materials are fed and discharged once more when one side is processed, so that double efficiency output of a single channel can be realized; the dust remover 13 is mainly used for dust absorption in the laser processing process, and the cooling machine 14 realizes the cooling effect on the laser.

The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims

1. The automatic feeding and discharging processing equipment for the solar substrate is characterized by comprising a flower basket feeding and discharging machine and a laser processing host machine, wherein the flower basket feeding and discharging machine comprises a flower basket feeding module, a flower basket discharging module, a feeding transverse carrying module and a discharging transverse carrying module, the laser processing host machine comprises a flower basket lifting and feeding mechanism, a flower basket lifting and discharging mechanism, a telescopic conveying mechanism, a material counterpoint mechanism, a material caching mechanism, a material carrying mechanism, a double-station carrying platform, a visual positioning mechanism, a laser processing mechanism, a NG receiving mechanism and a detection mechanism, the double-station carrying platform is provided with a laser processing station, a feeding station and a discharging station, the visual positioning mechanism and the laser processing mechanism are arranged above the laser processing stations of the double-station conveying platform, the flower basket feeding module, the feeding transverse conveying module, the flower basket lifting feeding mechanism, the telescopic conveying mechanism, the material alignment mechanism, the detection mechanism, the NG receiving mechanism, the material caching mechanism, the material conveying mechanism and the feeding stations of the double-station conveying platform are sequentially in butt joint to form a feeding assembly line, and the discharging stations, the material conveying mechanism, the material caching mechanism, the detection mechanism, the NG receiving mechanism, the material alignment mechanism, the telescopic conveying mechanism, the flower basket lifting discharging mechanism, the discharging transverse conveying module and the flower basket discharging module are sequentially in butt joint to form a discharging assembly line.

2. The automatic solar substrate feeding and discharging processing device according to claim 1, wherein each flower basket feeding module comprises a plurality of groups of flower basket feeding conveying lines which are arranged in an aligned manner, each flower basket discharging module comprises a plurality of groups of flower basket discharging conveying lines which are arranged in an aligned manner, each flower basket feeding conveying line comprises a common feeding section and an accelerating feeding section, the common feeding section is in butt joint with the accelerating feeding section, the feeding transverse carrying module is in butt joint with a plurality of groups of accelerating feeding sections of the flower basket feeding conveying lines, the discharging transverse carrying module is in butt joint with a plurality of groups of flower basket discharging conveying lines, and a feeding blocking cylinder is arranged at the tail end of the feeding direction of the common feeding section.

3. The automatic loading and unloading processing device for solar substrates according to claim 1, wherein the feeding transverse conveying module and the discharging transverse conveying module are two transverse conveying modules arranged in a basket feeding direction and a discharging direction, the transverse conveying modules comprise transverse linear modules, transverse conveying sliders, transverse conveying belts and transverse conveying blocking cylinders, the transverse linear modules transversely span multiple groups of basket feeding conveying lines or multiple groups of basket discharging conveying lines, the transverse conveying sliders are in sliding connection with the transverse linear modules, the transverse conveying belts are connected to the transverse conveying sliders, and when the transverse linear modules drive the transverse conveying sliders to one group of basket feeding conveying lines or basket discharging conveying lines, the transverse conveying belts are in butt joint with the basket feeding conveying lines or the basket discharging conveying lines, and the transverse conveying blocking cylinders are connected to the transverse conveying sliders and block baskets on the transverse conveying belts.

4. The automatic solar substrate loading and unloading processing device according to claim 1, wherein the double-station carrying platform comprises a double-station carrying module, a carrying jig for placing the solar substrate and a mover slide block, wherein the double-station carrying module is connected with two groups of mover slide blocks in a sliding manner, and the double-station carrying module drives the carrying jig to move among a loading station, a unloading station and a laser processing station through the mover slide block.

5. The automatic loading and unloading processing device for the solar substrate according to claim 4, wherein the double-station carrying platform further comprises a backlight light source for matching with the vision positioning mechanism for taking an image, a light hole is formed in a vertex angle of the carrying jig, and the backlight light source is located below the light hole.

6. The automatic solar substrate feeding and discharging processing device according to claim 4, wherein the carrying jig comprises a jig flat plate, a leveling supporting plate, an adjusting screw, an adjusting outer nut, an adjusting knob and a locking bolt, the leveling supporting plate is arranged on the rotor sliding block, the jig flat plate is connected to the leveling supporting plate, the leveling supporting plate is provided with a leveling hole site, the adjusting outer nut is fixed in the leveling hole site, one end of the adjusting screw penetrates through the adjusting outer nut and then props against the jig flat plate, the adjusting screw is connected with the adjusting outer nut through threads, the other end of the adjusting screw is connected with the adjusting knob, and the locking bolt is connected to the bottom of the adjusting knob.

7. The automatic loading and unloading processing device for a solar substrate according to claim 1, wherein the material handling mechanism comprises a handling support, a material handling module, a sucker support, a material sucker and a sucker leveling assembly, the material handling module is connected to the handling support, the sucker support is slidably connected to the material handling module, the sucker support is at least connected with one material sucker, one end of the sucker leveling assembly is fixed to the sucker support, and the other end of the sucker leveling assembly is propped against the material sucker to adjust the angle of the material sucker.

8. The automatic solar substrate feeding and discharging processing device according to claim 1, wherein the NG receiving mechanism comprises a receiving support, a receiving carrying module, a receiving sucker and a receiving jig, the receiving carrying module is arranged on the receiving support, the receiving sucker is slidably connected to the receiving carrying module, the receiving jig is arranged on one side of a discharging assembly line, and the receiving carrying module drives the receiving sucker to move between the discharging assembly line and the receiving jig; the detection mechanism comprises a detection support and a detection camera used for detecting whether the solar substrate has broken pieces or hidden cracks or not, wherein the detection support spans and is installed above an upper material loading assembly line and a lower material loading assembly line, and a plurality of detection cameras are connected to the detection support.

9. The automatic loading and unloading processing device for the solar substrate according to claim 1, wherein the visual positioning mechanism comprises a visual positioning support and a visual positioning camera for positioning the solar substrate to be processed, the visual positioning support is arranged above a laser processing station of the double-station carrying platform, and the visual positioning camera is connected to the visual positioning support and is aligned with the double-station carrying platform.

10. A solar substrate automatic loading and unloading processing method, characterized in that the following process is performed based on the solar substrate automatic loading and unloading processing equipment according to any one of claims 1 to 9: