CN206624398U - Photovoltaic sheet material high speed handling robot system - Google Patents

Abstract

The utility model relates to a photovoltaic plate high-speed transport robot system, which relates to plate automatic transport operations. The utility model is composed of a photovoltaic panel separation system, a photovoltaic panel transportation system, a photovoltaic panel thickness adjustment mechanism and a control system. The utility model realizes the automatic handling of the plate through the automatic control technology, and reduces the labor intensity of the staff. The utility model tangentially outputs the photovoltaic panels through the friction wheel, avoiding the "sticking" problem caused by air pressure in the separation of photovoltaic panels, and then realizes high-speed transportation. Defects such as cracks. The utility model is provided with a "herringbone"-shaped guide, which can realize the transportation of photovoltaic panels in two directions, and simultaneously meet the requirements of photovoltaic panels for two stations. The utility model is provided with a photovoltaic plate thickness adjustment mechanism, which can be adjusted according to the specifications of different photovoltaic plates, and is suitable for the output of photovoltaic plates of various specifications.

Description

Photovoltaic panel high-speed handling robot system

technical field

The technical scheme of the utility model relates to an automatic handling system for photovoltaic panels, in particular to a high-speed delivery robot system for photovoltaic panels.

Background technique

In recent years, various automated production operations have developed on a large scale, among which robot automated handling operations are a typical link. As an important means of production, photovoltaic panels appear in a large number in various production and life. Photovoltaic panel handling is an important part of photovoltaic panel operations. The automatic handling of photovoltaic panels by robots is an important technical field for robotic automation and the photovoltaic panel industry. At present, due to the wide variety of photovoltaic panels, different mechanical characteristics, and different surface features, there are different technical means for automatic handling of photovoltaic panels. The main Divided into the following categories: serial robots, rectangular coordinate robots, parallel robots; but most of these robots rely on suction cups, such technical means. For example: CN105151772A discloses a photovoltaic panel handling robot, which includes a suction cup manipulator, a lifting drive device, a walking device and a control system. The robot can automatically transport photovoltaic panels with smooth surfaces, good airtightness and moderate quality. This technical method often encounters problems when handling ultra-thin and fragile photovoltaic panels. When the suction cup absorbs and transports the first photovoltaic panel from the material stack, the second photovoltaic panel will be "unlocked" due to the small air pressure between the two panels. If it sticks, the second photovoltaic panel will fall down with the increase of air pressure when halfway through the walk. Even slow handling will cause a small drop of the second photovoltaic panel, resulting in defects such as cracks.

In a word, the products in the prior art cannot well solve the technical problem of photovoltaic plate handling, especially the technical problem of high-speed handling.

Utility model content

The technical problem to be solved by the utility model is: to provide a high-speed handling robot system for photovoltaic panels, which can carry out automatic handling of photovoltaic panels, and can carry out high-speed transportation, and can transport photovoltaic panels to two stations, providing two workers At the same time, it continuously provides support for photovoltaic panel material supply.

The technical solution adopted by the utility model to solve the technical problem includes a photovoltaic panel high-speed handling robot system, which is composed of a photovoltaic panel separation system, a photovoltaic panel transportation system, a photovoltaic panel thickness adjustment mechanism and a control system; the photovoltaic panel separation system includes: a substrate, a spring , light rod, push plate, pressure sensor, rubber pad, photovoltaic sheet, friction wheel, servo motor, bottom plate, linear motor, timing pulley A, timing belt, and timing pulley B, among which four light rods are parallel to each other and fixed on On the substrate, the four light bars are distributed in front and rear rows, and each row is divided into upper and lower two. The base plate is fixed on the base and located under the light bars. The photovoltaic panels are placed vertically in stacks on the bottom plate between the front and rear rows of light bars. , the right side of the photovoltaic panel stack is attached to the friction wheel, the friction wheel is connected to the timing pulley A, the timing pulley A is connected to the timing pulley B through the timing belt, the timing pulley B is driven by the servo motor, and the push plate There is a through hole, the push plate is installed on the light bar through the through hole, the right side of the push plate is provided with a rubber pad, and a pressure sensor is set between the push plate and the rubber pad, the right side of the rubber pad is in contact with the photovoltaic panel, and the left side of the push plate is A spring is installed on the side, and the other end of the spring is connected to the output end of the linear motor, and the linear motor is fixed on the substrate; the photovoltaic panel transportation system includes: substrate, proximity switch, "T"-shaped connecting frame, right conveyor belt, stepper motor, bearing , guide rail slider, lead screw nut, guide rail, lead screw, left conveyor belt, "herringbone"-shaped guide, where the proximity switch is installed on the base so that the detection end of the proximity switch is just located at the output port of the photovoltaic panel separation system, "person" The glyph guide is located directly below the output port of the photovoltaic panel separation system. There is a "T"-shaped connecting frame under the "herringbone"-shaped guide. The "T"-shaped connecting frame is connected to the guide rail slider, and the guide rail slider is installed on the guide rail. The two ends of the guide rail are fixed on the substrate, the guide rail slider is connected with a screw nut, the screw nut is installed on the screw, one end of the screw is installed on the substrate through a bearing, and the other end of the screw passes through the substrate through a bearing And connected with the output end of the stepping motor, the stepping motor is fixed on the substrate, the right conveyor belt is located on the right side of the "herringbone" guide, and the upper surface of the right conveyor belt is lower than the bottom of the "herringbone" guide Height, the left conveyor belt is located on the left side of the "herringbone"-shaped guide, and the upper surface of the left conveyor belt is lower than the preset height at the bottom of the "herringbone"-shaped guide; the photovoltaic panel thickness adjustment mechanism includes: bottom plate, counterbore, "U" shape Hole, "L" shaped adjusting plate, countersunk head screw, bottom plate protruding tooth, bottom plate tooth groove, "L" shaped adjusting plate tooth groove, "L" shaped adjusting plate protruding tooth, nut, wherein the bottom plate is provided with counterbore, " There is a "U"-shaped hole on the L-shaped adjustment plate, and the "L"-shaped adjustment plate is installed under the bottom plate through countersunk head screws, just to make the upper surface of the right end of the "L"-shaped adjustment plate flush with the upper surface of the bottom plate, and the countersunk head The screw goes through the countersunk hole and the "U"-shaped hole, and the nut is screwed on the end of the countersunk head screw. The right side of the bottom plate is provided with bottom plate protrusions and bottom plate tooth grooves, and the right end of the "L"-shaped adjustment plate is provided with an "L"-shaped adjustment plate The tooth groove and the protruding teeth of the "L" shape adjustment plate, the right side of the bottom plate and the right end of the "L" shape adjustment plate pass through their respective protruding teeth and The tooth grooves mesh together to form a zigzag seam, ensuring that the photovoltaic panels will not be stuck in the seam during the movement; the control system is controlled by an industrial PLC.

In the above-mentioned high-speed handling robot system for photovoltaic panels, the preset height is set according to the thickness of photovoltaic panels of different specifications.

In the above-mentioned photovoltaic panel high-speed transport robot system, the edges of the protruding teeth of the "L"-shaped adjustment plate are provided with chamfers.

In the above-mentioned high-speed handling robot system for photovoltaic panels, the "herringbone"-shaped guides are set as two 90° arcs.

In the above-mentioned robot system for high-speed handling of photovoltaic panels, the tangent line of the uppermost end of the "herringbone"-shaped guide rail is exactly in the vertical position.

In the above-mentioned high-speed handling robot system for photovoltaic panels, there are two counterbores.

In the above-mentioned high-speed handling robot system for photovoltaic panels, there are two "U"-shaped holes.

The components used in the above-mentioned high-speed handling robot system for photovoltaic panels are well known to those skilled in the art, and are all obtained through known means. The connection method of the components is within the grasp of those skilled in the art.

The beneficial effects of the utility model are: compared with the prior art, the outstanding features and significant progress of the utility model's photovoltaic panel high-speed handling robot system are:

(1) The utility model realizes the automatic handling of the photovoltaic panel through the automatic control technology, and reduces the labor intensity of the staff.

(2) The utility model tangentially outputs the photovoltaic panels through the friction wheel, without suction cup adsorption, avoiding the problem of "bonding" caused by air pressure in the separation of photovoltaic panels, and realizing high-speed transportation.

(3) The utility model is equipped with a "herringbone"-shaped guide, which can carry photovoltaic panels in two directions at the same time, and can meet the requirements for handling photovoltaic panels at two stations at the same time.

(4) The utility model is equipped with a photovoltaic panel thickness adjustment mechanism, which can be adjusted according to the specifications of different photovoltaic panels, and is suitable for the output of photovoltaic panels of various specifications.

(5) The tangent line of the uppermost end of the herringbone-shaped guide rail provided by the utility model is just in the vertical position, so that when the photovoltaic panel falls, it can fall without a sudden impact, avoiding defects such as broken and hidden cracks.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Fig. 1 is a schematic diagram of the main structure of the high-speed handling robot system for photovoltaic panels of the present invention.

Fig. 2 is a top view of the photovoltaic panel separation system of the photovoltaic panel high-speed handling robot system of the present invention.

Fig. 3 is a bottom plate structure diagram of the high-speed handling robot system for photovoltaic panels of the present invention.

Fig. 4 is a structural diagram of the "L"-shaped adjusting plate of the high-speed handling robot system for photovoltaic panels of the present invention.

Fig. 5 is a structural diagram of a photovoltaic panel thickness adjustment mechanism of the photovoltaic panel high-speed handling robot system of the present invention.

In the figure, 1. Substrate, 2. Spring, 3. Light rod, 4. Push plate, 5. Pressure sensor, 6. Rubber pad, 7. Photovoltaic plate, 8. Friction wheel, 9. Timing belt, 10. Servo motor , 11. Proximity switch, 12. "T" shaped connecting frame, 13. Right conveyor belt, 14. Control system, 15. Stepper motor, 16. Bearing, 17. Guide rail slider, 18. Lead screw nut, 19. Guide rail , 20. Lead screw, 21. Left conveyor belt, 22. "Herringbone"-shaped guide, 23. Photovoltaic sheet thickness adjustment mechanism, 24. Bottom plate, 25. Linear motor, 26. Timing pulley A, 27. Timing pulley B . Groove, 35. " L " shape adjusting plate protruding tooth, 36. nut.

detailed description

The embodiment shown in Fig. 1 and Fig. 2 shows that the high-speed handling robot system for photovoltaic panels of the present invention is composed of a photovoltaic panel separation system, a photovoltaic panel transportation system, and a photovoltaic panel thickness adjustment mechanism 23. The photovoltaic panel separation system includes: a substrate 1, a spring 2. Light rod 3, push plate 4, pressure sensor 5, rubber pad 6, photovoltaic plate 7, friction wheel 8, servo motor 10, bottom plate 24, linear motor 25, timing pulley A26, timing belt 9, timing pulley B27 , where the four light bars 3 are parallel to each other and fixed on the substrate 1, the four light bars 3 are distributed in two rows, front and back, and each row is divided into two up and down, which are used to limit the forward and backward movement of the photovoltaic panel 7, and the bottom plate 24 is fixed on the substrate 1 It is located under the light bar 3 and is used to drag the stack of photovoltaic panel materials. The photovoltaic panel material 7 is vertically stacked and placed on the bottom plate 24 between the front and rear rows of light bars 3. The right side of the photovoltaic panel material stack is in contact with the friction wheel 8 Fitting, the friction wheel 8 is connected with the synchronous pulley A26, the synchronous pulley A26 is connected with the synchronous pulley B27 through the synchronous belt 9, the synchronous pulley B27 is driven by the servo motor 10, and the servo motor 10 can control the rotation of the friction wheel 8 The number of turns, the push plate 4 is provided with a through hole, the push plate 4 is installed on the light rod 3 through the through hole, the push plate 4 can slide left and right on the light rod 3, and the right side of the push plate 4 is provided with a rubber pad 6, To play a buffer role, a pressure sensor 5 is arranged between the push plate 4 and the rubber pad 6 to detect the magnitude of the thrust. The other end of the spring 2 is connected to the output end of the linear motor 25, and the buffer function of the spring 2 prevents the movement of the linear motor 25 from forming an impact on the stack of photovoltaic panel materials. The linear motor 25 is fixed on the substrate 1; the photovoltaic panel transportation system includes: the substrate 1, the Switch 11, "T"-shaped connecting frame 12, right conveyor belt 13, stepping motor 15, bearing 16, guide rail slider 17, lead screw nut 36, guide rail 19, lead screw 20, left conveyor belt 21, "herringbone" guide 22, wherein the proximity switch 11 is installed on the substrate 1 so that the detection end of the proximity switch 11 is just located at the output port of the photovoltaic panel separation system, the proximity switch 11 is used to detect the position of the output photovoltaic panel 7, and judge whether the photovoltaic panel 7 is completely separated from the separation system , the "herringbone"-shaped guide 22 is located directly below the output port of the photovoltaic panel separation system, and is used to catch the separated photovoltaic panels 7, and a "T"-shaped connecting frame 12 is provided under the "herringbone"-shaped guide 22, " The T”-shaped connecting frame 12 is connected on the guide rail slider 17, the guide rail slider 17 is installed on the guide rail 19, the two ends of the guide rail 19 are fixed on the base body 1, the guide rail slider 17 is connected with a screw nut 36, and the screw nut 36 Installed on the lead screw 20, one end of the lead screw 20 is installed on the base body 1 through the bearing 16, and the other end of the lead screw 20 passes through the base body 1 through the bearing 16 and is connected with the output end of the stepper motor 15, the stepper motor 15 is fixed on the substrate 1, and the stepper motor 15 can control the "herringbone" shape guide 22 to swing left and right through the above mechanism, and then transport the photovoltaic panels 7 to the two sides respectively. On the side conveyor belt, the right conveyor belt 13 is located on the right side of the "herringbone"-shaped guide 22, the upper surface of the right conveyor belt 13 is lower than the preset height of the lowermost end of the "herringbone"-shaped guide 22, and the left conveyor belt 21 is located on the "herringbone"-shaped guide. On the left side of the device 22, the upper surface of the left conveyor belt 21 is lower than the preset height of the lowermost end of the "herringbone"-shaped guide 22, and the conveyor belts on both sides are responsible for transporting the photovoltaic panel 7 to the work station. The control system 14 is controlled by an industrial PLC. The control system 14 is located below the robot system and is responsible for controlling the operation of the entire robot.

The embodiment shown in FIG. 3 shows that the base plate 24 is provided with a counterbore 28 , and the right side of the base plate 24 is provided with a base plate protruding tooth 32 and a base plate tooth groove 33 .

The embodiment shown in Figure 4 shows that the "L" shape adjustment plate 30 is provided with a "U" shape hole 29, and the right end of the "L" shape adjustment plate 30 is provided with an "L" shape adjustment plate tooth groove 34 and an "L" shape adjustment Plate protruding teeth 35.

The embodiment shown in Figure 5 shows that the photovoltaic panel thickness adjustment mechanism 23 includes: a bottom plate 24, a counterbore 28, a "U" shaped hole 29, an "L" shaped adjustment plate 30, a countersunk head screw 31, a bottom plate protruding tooth 32, and a bottom plate tooth Groove 33, "L" shaped adjusting plate tooth groove 34, "L" shaped adjusting plate protruding tooth 35, nut 36, wherein the bottom plate 24 is provided with counterbore 28, "L" shaped adjusting plate 30 is provided with "U" shaped Hole 29, "L" shaped adjusting plate 30 is installed under the bottom plate 24 through countersunk head screws 31, just make the upper surface of the right end of "L" shaped adjusting plate 30 flush with the upper surface of the bottom plate 24, and countersunk head screws 31 pass through the countersunk holes 28 and "U" shaped hole 29, the nut 36 is screwed on the end of the countersunk screw 31, the structure of the countersunk screw 31 and the nut 36 completes the connection between the "L" shaped adjustment plate 30 and the base plate 24, the right side of the base plate 24 Bottom plate protruding teeth 32 and bottom plate tooth grooves 33 are provided, and the right end of the “L” shaped adjusting plate 30 is provided with “L” shaped adjusting plate tooth grooves 34 and “L” shaped adjusting plate protruding teeth 35, the right side of the bottom plate 24 and the “L” The right ends of the adjusting plate 30 are meshed together through their respective protruding teeth and tooth grooves to form a zigzag seam to ensure that the photovoltaic panels 7 will not be stuck into the seam during the movement, and the “L” shaped adjusting plate 30 is adjusted through the upper The mutual position of the "-shaped hole 29 and the screw realizes the adjustment of the left and right positions, thereby changing the horizontal distance between the rightmost side of the "L"-shaped adjustment plate 30 and the leftmost end of the friction wheel 8, thereby realizing adaptive adjustment for photovoltaic panels 7 of different thicknesses.

Example 1

According to the above-mentioned Figures 1 to 5, a high-speed handling robot system for photovoltaic panels is produced, wherein the preset height is set according to the thickness of photovoltaic panels 7 of different specifications, and the edges of the protruding teeth 35 of the "L"-shaped adjustment plate are provided with chamfers. The "herringbone"-shaped guide 22 is set as two 90° arcs, the tangent of the uppermost end of the guide rail of the "herringbone"-shaped guide 22 is just in the vertical position, there are two "U"-shaped holes 29, and there are two counterbores 28 .

The following will take the handling of a photovoltaic panel 7 as an example.

The first step, manual batch loading

Manually place the stacked photovoltaic panels 7 vertically on the bottom plate 24, between the rubber pad 6 and the friction wheel 8 in the left and right directions, and between the front and rear rows of light bars 3 in the front and rear directions. Due to the elastic force of the spring 2, the photovoltaic panels The material stack is initially fixed and the loading is completed.

In the second step, the photovoltaic panel 7 is separated

The robot system starts, and the robot system performs self-inspection. After the self-inspection is completed, the linear motor 25 runs to push the stack of photovoltaic panel materials to the right until the value of the pressure sensor 5 reaches the predetermined value. It is judged that the right side of the stack of photovoltaic panel materials is in contact with the friction wheel 8 Tight; then the linear motor 25 runs in reverse for a period of time, the compression of the spring 2 decreases, and the pressure between the plate material stacks is reduced by a part, reducing the loss of the friction to the photovoltaic plate 7, and then the servo motor 10 is started, driving the friction wheel 8 counterclockwise The number of rotations is set, and the photovoltaic panel 7 on the far right of the photovoltaic panel material stack moves downward due to friction, separates from the material stack, and enters the lower area to complete the separation of the photovoltaic panel 7.

The third step, photovoltaic panel 7 transportation

The proximity switch 11 detects the photovoltaic panel 7 falling from above, and it is judged that the separation operation of the photovoltaic panel 7 has started. Since the photovoltaic panel 7 falls, the proximity switch 11 will not detect the photovoltaic panel 7 immediately, and it is judged that the photovoltaic panel 7 is completely separated from the separation mechanism. Entering the transportation mechanism, under the guidance of the "herringbone"-shaped guide 22, the photovoltaic panel 7 slides onto the left conveyor belt, and the left conveyor belt works to transport the photovoltaic panel 7 to the working station 1, while the stepping motor 15 works , through the lead screw 20, the track slider and the "T"-shaped connecting frame 12 to control the "herringbone"-shaped guide 22 to move to the left, so that the right guide rail of the "herringbone"-shaped guide 22 is located in the positive direction of the output port of the photovoltaic panel separation system. Below, repeat the second step. The "herringbone" guide 22 guides the photovoltaic panel 7 to the right conveyor belt, and the right conveyor belt 13 transports the photovoltaic panel 7 to the work station 2. The stepping motor 15 rotates in reverse to drive the "human" The ""-shaped guide 22 moves to the right, so that the left guide rail of the "herringbone"-shaped guide 22 is located directly below the output port of the photovoltaic panel separation system, and the second step is repeated until all the photovoltaic panels 7 are transported. Alarm shortage.

The fourth step, plate thickness adjustment

When the plate specification changes, the nut 36 can be loosened to adjust the relative position of the "U"-shaped hole 29 on the "L"-shaped adjustment plate 30 and the screw, and change the position between the right side of the "L"-shaped adjustment plate 30 and the left side of the friction wheel 8. The distance is adapted to the thickness of the new photovoltaic panel 7, and then the nut 36 is tightened to complete the adjustment. During the adjustment process, attention should be paid to the issue of the adjustment stroke to ensure that the seam between the "L" shaped adjustment plate 30 and the bottom plate 24 is in a zigzag shape instead of a straight line, so as to prevent the board from falling and getting stuck in the seam, causing breakage.

Claims (7)

1. photovoltaic sheet material high speed handling robot system, by photovoltaic sheet material piece-rate system, photovoltaic sheet material transportation system, photovoltaic sheet material Thickness adjusting mechanism and control system composition, it is characterised in that：Photovoltaic sheet material piece-rate system includes matrix, spring, feed rod, pushed away Plate, pressure sensor, rubber blanket, photovoltaic sheet material, friction pulley, servomotor, bottom plate, linear electric motors, synchronous pulley A, timing belt, Synchronous pulley B, wherein four feed rods are parallel to each other and are each attached on matrix, four feed rods are distributed according to front two rows, often arrange It is divided into two up and down, bottom plate is fixed on matrix below feed rod, and photovoltaic sheet material is placed on position into pile shape vertically Between front two rows feed rod, the right side of photovoltaic pack is bonded with friction pulley, and friction pulley is connected with synchronous pulley A, timing belt Wheel A is linked together by timing belt and synchronous pulley B, and synchronous pulley B is driven by servomotor, and through hole is provided with push pedal, Push pedal is arranged on feed rod by through hole, and rubber blanket is provided with the right side of push pedal, and pressure biography is provided between push pedal and rubber blanket Sensor, rubber blanket right side and photovoltaic web contact, push pedal left side are provided with spring, and the other end of spring is connected to linear electric motors Output end, linear electric motors are fixed on matrix；Photovoltaic sheet material transportation system includes matrix, proximity switch, "T"-shaped link, the right side Conveyer belt, stepper motor, bearing, guide rail slide block, feed screw nut, guide rail, leading screw, left conveyer belt, " people " font guiding device, wherein Proximity switch, which is arranged on matrix, causes the test side of proximity switch to be located exactly at the delivery outlet of photovoltaic sheet material piece-rate system, " people " Font guiding device is located at the underface of photovoltaic sheet material piece-rate system delivery outlet, is provided with below " people " font guiding device "T"-shaped Link, "T"-shaped link are connected on guide rail slide block, and guide rail slide block is arranged on guide rail, and guide rail both ends are fixed on matrix, Feed screw nut is connected with guide rail slide block, feed screw nut is arranged on leading screw, and one end of leading screw is arranged on matrix by bearing, The other end of leading screw is linked together through matrix and with the output end of stepper motor by bearing, and stepper motor is fixed on matrix On, right conveyer belt is located at the right side of " people " font guiding device, and the upper surface of right conveyer belt is less than " people " font guiding device bottom Preset height, left conveyer belt are located at the left side of " people " font guiding device, and the upper surface of left conveyer belt is less than " people " font guiding device Bottom preset height；Photovoltaic sheet material thickness adjusting mechanism includes bottom plate, counterbore, " u "-shaped hole, " L " shape adjustable plate, countersunk head spiral shell Nail, bottom plate lobe, bottom plate teeth groove, " L " shape adjustable plate teeth groove, " L " shape adjustable plate lobe, nut, it is heavy to be provided with its bottom plate Hole, " u "-shaped hole is provided with " L " shape adjustable plate, " L " shape adjustable plate is arranged on below bottom plate by sunk screw, is made just " L " The upper surface of shape adjustable plate right-hand member is concordant with plate upper surface, and sunk screw is screwed in countersunk head through counterbore and " u "-shaped hole, nut The end of screw, bottom plate right side are provided with bottom plate lobe and bottom plate teeth groove, and " L " shape adjustable plate right-hand member is provided with " L " shape adjustable plate Teeth groove and " L " shape adjustable plate lobe, bottom plate right side and " L " shape adjustable plate right-hand member are engaged on one by respective lobe and teeth groove Rise, form zigzag seam, ensure that in photovoltaic sheet material moving process seam will not be caught in；Control system is controlled by industrial PLC.

2. photovoltaic sheet material high speed handling robot system according to claim 1, it is characterised in that：The preset height root Set according to the photovoltaic sheet metal thickness of different size.

3. photovoltaic sheet material high speed handling robot system according to claim 1, it is characterised in that：" L " the shape regulation The edge of plate lobe is provided with chamfering.

4. photovoltaic sheet material high speed handling robot system according to claim 1, it is characterised in that：" people " font draws Lead device and be arranged to two 90 ° of circular arcs.

5. photovoltaic sheet material high speed handling robot system according to claim 1, it is characterised in that：" people " font draws The tangent line of the top of device guide rail is led just at plumb position.

6. photovoltaic sheet material high speed handling robot system according to claim 1, it is characterised in that：The counterbore has two It is individual.

7. photovoltaic sheet material high speed handling robot system according to claim 1, it is characterised in that：The " u "-shaped hole has Two.