CN215744469U

CN215744469U - Automatic glue spraying device

Info

Publication number: CN215744469U
Application number: CN202120900363.6U
Authority: CN
Inventors: 严伟; 李容; 付红松
Original assignee: Chuzhou Longi Solar Technology Co Ltd
Current assignee: Chuzhou Longi Solar Technology Co Ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2022-02-08
Anticipated expiration: 2031-04-28

Abstract

The utility model discloses an automatic gluing device, relates to the technical field of photovoltaics, and aims to solve the problems that the existing automatic gluing machine cannot flexibly and accurately identify the position and shape of glue shortage and the required glue amount, cannot fully automatically identify and glue supplement, and cannot achieve the ideal appearance requirement in the glue supplement effect. The automatic gluing device comprises: the device comprises a bearing structure, an image acquisition device, a multi-degree-of-freedom glue spraying device and a controller which is electrically connected with the bearing structure and the image acquisition device respectively, wherein the bearing structure is provided with a bearing area for accommodating and bearing a photovoltaic assembly, and the image acquisition device is used for acquiring glue spraying gap images of the frame positioned in the bearing area; the multi-degree-of-freedom glue applying device is used for applying glue to the frame glue applying gaps. The utility model provides an automatic beat mucilage binding and put and be used for beating the frame of photovoltaic module and glue the gap and carry out full-automatic beating to glue.

Description

Automatic glue spraying device

Technical Field

The utility model relates to the technical field of photovoltaic modules, in particular to an automatic gluing device.

Background

After the aluminum alloy frame is added to the photovoltaic assembly, frame gluing is needed, so that the structural strength of the assembly can be enhanced, and the photovoltaic assembly is convenient to mount; simultaneously, the edge of the component can be sealed, and the water vapor is isolated from permeating into the component.

The glue amount of the conventional glue applying machine is not well controlled, so that glue overflow on the front surface of the photovoltaic module and glue shortage on the back plate surface are easily caused. The glue applying quality is closely related to the glue amount and the glue shape, the control precision and the speed of the glue applying machine and the flow of the glue valve. In order to achieve the ideal appearance effect of no glue overflow on the front side and no glue shortage on the back side of the photovoltaic module, the back plate surface of the photovoltaic module needs to be repaired by glue filling. The existing automatic gluing machine can complete the glue supplementing operation by performing full-section or sectional gluing through a multi-shaft mechanical arm or matching with a PLC system, the position and shape of the glue shortage can not be flexibly and accurately identified and the required glue amount can not be flexibly and accurately identified, the glue can not be fully automatically identified and supplemented, and the glue supplementing effect can not reach the ideal appearance requirement of the photovoltaic module.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an automatic gluing device which is used for automatically identifying and accurately positioning a glue shortage position, glue quantity and glue shape and meeting the ideal appearance requirement of a photovoltaic module.

In a first aspect, the utility model provides an automatic gluing device. The automatic gluing device is used for gluing the frame of the photovoltaic assembly. The automatic gluing device provided by the utility model comprises a bearing structure, a controller, an image acquisition device and a multi-degree-of-freedom gluing device. The controller is respectively and electrically connected with the image acquisition device and the multi-degree-of-freedom gluing device. The bearing structure is provided with a bearing area for accommodating and bearing the photovoltaic module. The image acquisition device is used for acquiring gluing gap images of the photovoltaic assembly frame in the bearing area. The multi-degree-of-freedom glue applying device is used for applying glue to the glue applying gap of the frame.

Under the condition of adopting the technical scheme, the controller is respectively and electrically connected with the image acquisition device and the multi-degree-of-freedom gluing device, so that the image acquisition device can acquire gluing gap images of the photovoltaic assembly frame positioned in the bearing area and transmit the gluing gap images to the controller. The controller can adopt current image recognition technology to confirm position, the volume of gluing that need glue according to beating the seam image of gluing and glue the shape etc. and beat and glue the parameter, and then beat according to beating glue position, glue the volume and glue shape etc. and glue parameter control multi freedom and beat the mucilage binding and put and glue the seam and realize that multi-angle multi-attitude beats to glue to photovoltaic module's frame to guaranteed to beat to glue the seam beat at the frame and glue the shape diversified. Therefore, the automatic gluing device provided by the utility model can automatically identify and accurately position the glue shortage position, the glue amount and the glue shape, and meets the ideal appearance requirement of the photovoltaic module.

In a possible implementation manner, the image capturing device includes a first guiding mechanism and an image sensor disposed on the first guiding mechanism, and both the image sensor and the first guiding mechanism are electrically connected to the controller.

Under the condition of adopting above-mentioned technical scheme, image sensor and first guiding mechanism all are connected with the controller electricity, and image sensor establishes on first guiding mechanism for first guiding mechanism can be controlled to the controller, makes image sensor under first guiding mechanism's direction, gathers the image of beating the seam of gluing.

In a possible implementation manner, the frame includes at least three side frames, the number of the image capturing devices is at least three, and each image capturing device is close to the corresponding side frame. At the moment, the image acquisition device can conveniently acquire the gluing gap image without moving in a large range.

In a possible implementation manner, the guiding direction of the first guiding mechanism is consistent with the extending direction of the corresponding side frame. At the moment, the controller can control the first guide mechanism to move along the extending direction of the corresponding side frame, and full sectional type or full sectional type image and data acquisition is carried out on each region of the corresponding side frame, so that the image acquisition device can more completely acquire the glue gap image, and the multi-degree-of-freedom glue applying device is further accurately controlled to apply glue to the frame.

In a possible implementation, the first guide mechanism may be a linear guide mechanism. The linear guide mechanism can be a screw rod nut mechanism, a guide rail slide block mechanism and the like. The driving mode of the linear guide mechanism can be electric, pneumatic or hydraulic, and will not be described in detail here.

In a possible implementation manner, the shape of the frame may be limited to a rectangle such as a square or a rectangle, and may also be a polygonal shape such as a triangle, a pentagon, or a hexagon.

In a possible implementation manner, the multiple-degree-of-freedom glue spraying device comprises a second guide mechanism, a rotary glue spraying head, a height sensor and a reversing sensor. The second guide mechanism, the rotary glue beating head, the height sensor and the reversing sensor are all electrically connected with the controller. The rotary glue beating head is arranged on the second guide mechanism.

The height sensor is used for detecting the height of the rotary glue applying head relative to the bottom of the component frame, and the reversing sensor is used for detecting the relative position between the rotary glue applying head and the corner of the component frame.

Adopt under the condition of above-mentioned technical scheme, second guiding mechanism, the head is glued to the rotary type, height sensor and switching-over sensor all are connected with the controller electricity, and the rotary type is beaten and is glued the head and establish on second guiding mechanism, make the controller can be according to height sensor and switching-over sensor transmission's signal control second guiding mechanism, the rotary type is beaten and is glued the head and to the direction of second guiding mechanism, can beat to the frame of photovoltaic module and glue the gap and carry out multi-angle multi-attitude and beat and glue, thereby guarantee to beat to glue the shape diversification of gluing of gap at the frame.

In a possible implementation manner, the second guiding mechanism is a three-dimensional guiding mechanism, and includes a vertical direction guiding mechanism, a first horizontal direction guiding mechanism, and a second horizontal direction guiding mechanism. First horizontal direction guiding mechanism establishes on vertical direction guiding mechanism, and second horizontal direction guiding mechanism establishes on first horizontal direction guiding mechanism, and the rotary type is beaten and is glued the head and establish on second horizontal direction guiding mechanism.

In a possible implementation manner, the guiding direction of the vertical direction guiding mechanism is the same as the height direction of the photovoltaic module frame, and an included angle is formed between the guiding direction of the first horizontal direction guiding mechanism and the guiding direction of the second horizontal direction guiding mechanism.

In a possible implementation manner, the angle between the guiding direction of the first horizontal guiding mechanism and the guiding direction of the second horizontal guiding mechanism is 90 °.

In a possible implementation manner, the rotary glue applying head comprises a rotary driving part and a glue applying head arranged on the rotary driving part. The rotary driving piece is arranged on the second horizontal direction guide mechanism. The rotation angle of the rotary type gluing head is larger than 0 degree.

In a possible implementation mode, when the automatic gluing device is in a gluing state, the height sensor is arranged on the outer side wall, close to the frame of the assembly, of the second guide mechanism, and the reversing sensor is arranged on the outer side wall, close to the corner of the frame of the assembly, of the rotary gluing head.

In a possible implementation manner, the automatic gluing device further comprises a position correcting device. The position correction device is electrically connected with the controller. When the photovoltaic assembly is located in a bearing area of the automatic gluing device, the position correcting device can correct the position of the frame, so that the relative position between the frame and the laminating part included by the photovoltaic assembly meets the requirement, and the frame can be accurately fixed on the laminating part.

In a possible implementation manner, the frame of the photovoltaic module has at least one first side frame and at least one second side frame, and the extending direction of the at least one first side frame is different from the extending direction of the at least one second side frame.

In a possible implementation manner, the position correction device includes at least one first side frame positioning mechanism and at least one second side frame positioning mechanism, each first side frame positioning mechanism is close to the first side frame, and each second side frame positioning mechanism is close to the second side frame. At the moment, when the position correction device performs position resetting on the component frame, the first side frame positioning mechanism and the second side frame positioning mechanism synchronously feed and reset the corresponding side frames respectively, so that the time required by the position resetting is shortened, the time required by automatic gluing is further shortened, and the working efficiency is improved.

In a possible implementation manner, when the photovoltaic module is rectangular, the first side frame is a long side, and the second side frame is a short side. At this time, the number of the first side frame positioning mechanisms is larger than that of the second side frame positioning mechanisms. The number of the first side frame positioning mechanisms is two, and the number of the second side frame positioning mechanisms is one.

In one possible implementation, the at least one first side frame positioning mechanism and/or the at least one second side frame positioning mechanism may be a lead screw and nut mechanism, a rail slider mechanism, or the like. The driving method of the side frame positioning mechanism can be electric, pneumatic or hydraulic, and will not be described in detail here.

In a possible implementation manner, the position correction device, the image acquisition device and the multi-degree-of-freedom glue spraying device are all arranged on the bearing structure, and the image acquisition device and the multi-degree-of-freedom glue spraying device are located above the position correction device.

In a possible implementation, the above-mentioned carrying structure comprises a frame and a transmission line for transferring the photovoltaic modules to the frame. The transmission line transmits the photovoltaic module to the bearing area. The bearing structure also comprises a bearing plate positioned on the transmission line.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic structural view of a photovoltaic module;

fig. 2 is a block diagram of an automatic glue spraying device according to an embodiment of the present invention;

fig. 3 is an exploded view of an automatic glue applying device according to an embodiment of the present invention;

FIG. 4 is a block diagram of a position calibration apparatus according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a position calibration device according to an embodiment of the present invention;

FIG. 6A is a schematic structural diagram of a long-side frame positioning mechanism according to an embodiment of the present disclosure;

FIG. 6B is a schematic structural diagram of a short side frame positioning mechanism in an embodiment of the present invention;

FIG. 7 is a schematic structural diagram of an image capturing device according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of an embodiment of an image capture device;

fig. 9 is a schematic structural diagram of a multiple degree of freedom gluing device in an embodiment of the utility model.

Wherein:

1-a photovoltaic module, 10-a laminate,

11-the component frame, 110-the first long side frame,

111-the second long side frame, 112-the first short side frame,

113-second short side frame, 114-first corner diagonal,

115-second corner diagonal, 116-third corner diagonal,

117-the diagonal point of the fourth corner, 12-the glue gap,

120-gluing working position, 121-first gluing starting position,

122-a first glue binding position, 123-a second glue starting position,

124-second gluing end position;

2-a load-bearing structure, 20-a frame,

21-a transmission line, 22-a carrier plate,

220-contact surface of the component frame and the carrier plate;

3-an image acquisition device, 30-a first guiding mechanism,

31-an image sensor;

4-a multi-degree-of-freedom gluing device, 40-a second guide mechanism,

400-vertical direction guide mechanism, 401-first horizontal direction guide mechanism,

402-a second horizontal direction guide mechanism, 41-a rotary glue-applying head,

410-rotary drive, 4100-rotary cylinder,

4101-fixing piece, 411-gluing head,

42-height sensor, 43-commutation sensor;

5-a position correction device, 50-a first side frame positioning mechanism,

500-a first long side frame positioning mechanism, 501-a second long side frame positioning mechanism,

502-a third long side frame positioning mechanism, 503-a fourth long side frame positioning mechanism,

504-long side frame linear motor, 505-revolving cylinder,

51-second side frame positioning mechanism, 510-first side frame positioning mechanism,

511-second short side frame positioning mechanism, 512-short side frame linear motor,

513-righting the guide post;

6-a controller;

7-component transport direction.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1 illustrates a structural schematic diagram of a photovoltaic module disclosed in the related art. As shown in fig. 1, the photovoltaic module 1 includes a laminate 10 and a module frame 11. The laminate 10 is secured to the in-frame area of the component frame 11. The gap between the inner side wall of the component frame 11 and the outer side wall of the laminated member 10 is defined as a glue applying gap 12, and glue can be applied in the glue applying gap 12, so that the component frame 11 can be tightly combined with the laminated member 10.

At present, under the condition of abundant glue quantity, when the glue is assembled by a frame assembling device, the glue quantity on the front surface (glass surface) of a component is easy to overflow, the cleaning work of the front surface is increased, and the glue is wasted; on the contrary, when the glue amount is thin, when the back plate surface of the assembly is framed by framing equipment, the back plate surface of the assembly is in dotted, segment, discontinuous, irregular glue deficiency or complete glue deficiency. At present, the phenomenon is solved only through optimization of technical parameters and structures of frame gluing equipment and frame assembling equipment, and due to the fact that relative movement of a frame and a laminating part exists in the frame assembling process and the fluid characteristics of glue, although the gluing effect can be controlled as much as possible, in the actual production process, even if glue amount is accurately controlled, the ideal appearance effect of 'no glue overflow on the front side and no glue shortage on the back side' is difficult to achieve. In order to achieve the ideal appearance effect, the back of the photovoltaic module needs to be repaired by glue. The general repair mode is full-section gluing or fixed-point sectional gluing, and the glue amount and glue shape of the glue supplement have close relation with the control precision and speed of the conventional frame gluing machine, the flow of the glue valve and the like. The position of the glue shortage can be flexibly and accurately identified by adopting manual glue filling, but the shape and the glue amount of the glue which is manually made cannot meet the ideal appearance requirement of the assembly, and the production efficiency is low no matter the glue is successfully filled once or repeatedly. The automatic gluing machine in the prior art can finish general full-section or sectional gluing through a multi-shaft mechanical arm or a PLC system, although specific automatic gluing operation can be realized, the position, the glue amount and the glue shape which need to be glued cannot be accurately identified before gluing, and the gluing effect cannot meet the ideal appearance requirement of the assembly.

In view of the above problems, embodiments of the present invention provide an automatic glue dispensing device, which not only can implement full-automatic glue dispensing and improve production efficiency, but also can automatically identify a position, a glue amount, and a glue shape to be glued, ensure glue dispensing quality, synchronously implement advantages of mechanical automatic glue dispensing and manual glue replenishing, and synchronously avoid disadvantages of two glue dispensing and glue replenishing manners. The automatic gluing device can be used for various application scenes such as gluing and glue supplementing of gaps between the frame and the laminating part, and is not limited here.

Fig. 2 illustrates a block diagram of an automatic glue dispensing device according to an embodiment of the present invention. As shown in fig. 2, the automatic gluing device provided by the embodiment of the utility model includes a bearing structure 2, an image acquisition device 3, a multiple degree of freedom gluing device 4 and a controller 6, wherein the controller 6 is electrically connected with the bearing structure 2 and the image acquisition device 3 respectively. The image acquisition device 3 and the multi-degree-of-freedom glue spraying device 4 are arranged on the bearing structure 2. Illustratively, as shown in fig. 3, the carrier structure 2 may include a frame 20, a transmission line 21, and a carrier board 22 as a carrier area. At this time, the image pickup device 3 and the multi-degree-of-freedom glue applying device 4 are provided on the frame 20.

Fig. 3 illustrates an exploded view of an automatic glue applying device according to an embodiment of the present invention. In specific implementation, as shown in fig. 3, the transmission line 21 transmits the photovoltaic module 1 to the support plate 22 in the frame 20, the image acquisition device 3 is started to acquire the image of the gluing gap 12 on the photovoltaic module frame 11 on the support plate 22, and then the parameters such as the position coordinate, the glue amount, the glue shape and the like to be glued are analyzed and calculated by using the existing image recognition technology and are transmitted to the controller 6. The controller 6 controls the gluing device 4 with multiple degrees of freedom to glue the gluing gap 12 on the assembly frame 11 automatically according to the parameters. If the component frame 11 is not yet glued, the multi-degree-of-freedom gluing device 4 can glue the component frame 11 in a whole section or in sections along the extension direction of the component frame. If the assembly frame 11 is already glued, and only the insufficient gluing area is supplemented at this time, the multi-degree-of-freedom gluing device 4 can glue according to the gluing gap 12 indicated by the controller 6. In practical application, the controller 6 may identify the image of the photovoltaic module frame 11 on the carrier plate 22 by using the existing image recognition technology, and compare the image with the preset image of the photovoltaic module back panel frame meeting the ideal appearance requirement, so as to determine the position, the glue amount, the glue shape and other parameters of the glue applying gap 12 on the photovoltaic module frame 11 on the carrier plate 22, which need to be applied with glue.

According to the composition structure and the specific implementation process of the automatic gluing device, as shown in fig. 3, the automatic gluing device provided by the embodiment of the utility model can realize accurate identification of the position, the glue amount and the glue shape to be glued before gluing through the image acquisition device 3. Meanwhile, the multi-degree-of-freedom glue applying device 4 can move in multiple directions, so that multi-angle and multi-posture glue applying is realized for the glue applying gaps 12 on the photovoltaic assembly frame 11, and the glue applying shapes of the glue applying gaps 12 on the assembly frame 11 are diversified. Based on this, multi freedom is beaten mucilage binding and is put 4 under the control of controller 6, not only can beat the position of gluing with certain volume of beating and beat and glue, can also beat the colloid that the required shape was beaten in the position of beating to glue accurately, reach the volume of beating the position of gluing, the accurate control of gluing the shape, the quality of beating the glue has both been guaranteed, the structural strength of subassembly has been strengthened, make the subassembly be convenient for install, it is good to make the subassembly edge seal simultaneously, keep apart inside steam infiltration subassembly, the ideal appearance requirement to photovoltaic module has been satisfied again, the life of final guarantee subassembly reaches the design requirement, and the production efficiency is improved simultaneously.

As a possible implementation manner, as shown in fig. 2, the automatic gluing device provided in the embodiment of the present invention may further include a position correction device 5. The position correcting device 5 is disposed on the carrying structure 2 and electrically connected to the controller 6. During the process of placing the photovoltaic module 1 on the bearing structure 2, relative movement may occur between the module frame 11 and the laminated part 10, and the relative positions of the module frame 11 and the laminated part 10 are shifted, so that the gluing quality is reduced. Based on this, as shown in fig. 2 and fig. 3, after the transmission line 21 transmits the photovoltaic module to the carrier plate 22 on the carrying structure, the position correcting device 5 can correct the position of the module frame 11, and fix the photovoltaic module 1 until the gluing operation is finished and then return to the original position, so as to ensure that the relative position of the photovoltaic module frame 11 and the laminating part 10 meets the requirement, and the relative movement between the photovoltaic module frame 11 and the laminating part 10 does not occur in the image acquisition process and the automatic gluing process, thereby ensuring the gluing quality of the photovoltaic module.

In one example, the photovoltaic module frame 11 shown in fig. 1 may have a rectangular shape, such as a square, a rectangle, etc., or a polygonal shape, such as a triangle, a pentagon, a hexagon, etc.

In one example, the photovoltaic module frame 11 shown in fig. 1 has at least one first side frame and at least one second side frame, and the at least one first side frame and the at least one second side frame extend in different directions. For example: for a rectangular photovoltaic frame 11, the extending directions of the long side frame and the short side frame of the photovoltaic module frame 11 form an included angle of 90 degrees.

For example, fig. 4 is a block diagram illustrating a structure of a position correction apparatus according to an embodiment of the present invention. As shown in fig. 4, the position correcting device 5 includes m first side frame positioning mechanisms 50 and n second side frame positioning mechanisms 51, where m and n are integers greater than or equal to 1. Each first side frame positioning mechanism 50 and each second side frame positioning mechanism 51 are electrically connected to the controller 6, respectively. Here, the at least one first side frame positioning mechanism 50 and/or the at least one second side frame positioning mechanism 51 may be a lead screw and nut mechanism, a rail slider mechanism, or the like. The driving mode of the side frame positioning mechanism can be electric (such as electric push rod), pneumatic or hydraulic and the like.

Fig. 5 is a schematic structural diagram illustrating a position correction apparatus according to an embodiment of the present invention. As shown in fig. 5, in one example, each first side frame positioning mechanism 50 is adjacent to the first side frame, and each second side frame positioning mechanism 51 is adjacent to the second side frame.

For example, as shown in fig. 5, when the photovoltaic module 1 has a rectangular shape, the first side frame is defined as a long side frame, and the second side frame is defined as a short side frame. At this time, the number of the first side frame positioning mechanisms 50 is larger than the number of the second side frame positioning mechanisms 51. Illustratively, as shown in fig. 5, the number of the first side frame positioning mechanisms 50 is two by one long side frame, and the number of the second side frame positioning mechanisms 51 is one by one short side frame. The first side frame positioning mechanism 50 is defined as a long side frame positioning mechanism, and the second side frame positioning mechanism is defined as a short side frame positioning mechanism. Because the long side frame is longer, if only one side frame positioning mechanism is not convenient for position righting, two side frame positioning mechanisms are arranged beside the long side frame of the component frame 11, so that the position righting is simpler and more convenient. The short side frame is shorter, and the position can be restored only by one side frame positioning mechanism. At the moment, the long side frame positioning mechanisms are arranged beside the long side frames, and the side frame positioning mechanisms on the two long side frames are symmetrically distributed; short side frame positioning mechanism sets up by short side, and the side frame positioning mechanism on two short side frames is the symmetric distribution simultaneously.

Illustratively, as shown in fig. 5, four long-side frame positioning mechanisms are defined as a first long-side frame positioning mechanism 500, a second long-side frame positioning mechanism 501, a third long-side frame positioning mechanism 502, and a fourth long-side frame positioning mechanism 503, respectively, and two short-side frame positioning mechanisms are defined as a first short-side frame positioning mechanism 510 and a second short-side frame positioning mechanism 511, respectively.

Fig. 6A illustrates a schematic structural diagram of a long-side frame positioning mechanism in an embodiment of the utility model. As shown in fig. 6A, the four long-side frame positioning mechanisms (the first long-side frame positioning mechanism 500, the second long-side frame positioning mechanism 501, the third long-side frame positioning mechanism 502, and the fourth long-side frame positioning mechanism 503) may include a long-side frame linear motor 504 and a rotary cylinder 505, and the rotary cylinder 505 is connected above the long-side frame linear motor 504 by a connecting member. The rotary cylinder 505 has two working states, a standby position and a working position. When the photovoltaic module 1 is in the standby position, the plane where the rotary air cylinder 505 is located is parallel to the plane where the photovoltaic module 1 is located, and when the photovoltaic module 1 is in the working position, the rotary air cylinder 505 rotates 90 degrees and is perpendicular to the photovoltaic module 1 to prevent the photovoltaic module 1 from continuing to advance. The end of the rotary cylinder 505 is provided with a column for buffering. Fig. 6B illustrates a schematic structural diagram of a short side frame positioning mechanism in an embodiment of the present invention. As shown in fig. 6B, the two short side frame positioning mechanisms (the first short side frame positioning mechanism 510 and the second short side frame positioning mechanism 511) may include a short side frame linear motor 512 and a return guide pillar 513, and a connecting member is fixed to the short side frame linear motor 512 below the return guide pillar 513. Wherein, the upright post of the guide pillar 513 of reforming on the short side frame positioning mechanism and the rotary cylinder 505 tip on the long side frame positioning mechanism all play the cushioning effect, prevent that subassembly frame 11 is direct and metal contact, prevent that the photovoltaic module frame 11 of reforming in-process has the friction damage. The cross-sectional shapes of the guide post 513 and the upright post at the end of the revolving cylinder 505 may be circular or square, and the material may be a material capable of playing a role of buffering, such as nylon or PVC.

As shown in fig. 5, in one embodiment, a photo detector (not shown) is electrically connected to the controller 6 under the carrier board 22. In specific implementation, after the transmission line 21 transmits the photovoltaic module 1 to the carrier plate 22 according to the module transmission direction 7 shown in fig. 5, the photoelectric detector detects the photovoltaic module 1, transmits information to the controller 6, the controller 6 generates an instruction to rotate the revolving cylinder 505 by 90 °, the working state of the revolving cylinder 505 is changed from the standby position to the working position to block the photovoltaic module 1 from advancing, and then the long-side-frame linear motor 504 and the short-side-frame linear motor 512 simultaneously advance to the corresponding side frames, so that the synchronous feeding and centering of the long-side-frame positioning mechanism and the short-side-frame positioning mechanism are realized. After the return action is completed, the position correction device 5 sends a signal to the controller 6, and the controller 6 controls the image acquisition device 3 to start working. After gluing, the operating state of the rotary cylinder 505 is changed from the operating position to the standby position, and the position correction device 5 is reset to the original position to wait for the next photovoltaic module. The synchronous correcting mode shortens the time required by position correcting, further shortens the time required by automatic gluing, and improves the working efficiency.

Fig. 7 illustrates a schematic structural diagram of an image capturing device according to the novel embodiment of the present invention. As a possible implementation manner, as shown in fig. 3 and 7, the image capturing device 3 is located above the position correcting device 5, and includes a first guiding mechanism 30 and an image sensor 31, the image sensor 31 is disposed on the first guiding mechanism 30, and the controller 6 is electrically connected to the image sensor 31 and the first guiding mechanism 30, respectively, so that the controller 6 can complete an accurate positioning function of an adhesive-lacking position in an automatic adhesive applying process, identify a sealing adhesive on a whole section of a side frame of the back of the component, and perform a sectional or full-section image and data capturing process on the covering component.

Fig. 8 illustrates an operation diagram of an image capturing device according to an embodiment of the present invention. For the photovoltaic module 1, the module frame 11 is a closed frame-like structure, so that the photovoltaic module frame 11 includes at least three side frames. In order to conveniently collect the images of each side frame, the number of the image collection devices 3 is the same as that of the side frames, and is at least three, and each image collection device 3 is close to the corresponding side frame, so that the image collection devices 3 do not need to move in a large range during image collection, and the image collection process is more convenient and faster. The guiding direction of the first guiding mechanism 30 is consistent with the extending direction of the corresponding side frame, and at the moment, the controller 6 can control the first guiding mechanism 30 to move in the extending direction of the side frame, so that the controller 6 can control the image acquisition device 3 to shoot and acquire images of the side frame gluing gap 12 more completely, and further accurately control the multi-degree-of-freedom gluing device 4 to glue the assembly frame 11.

As shown in fig. 8, for example: when the shape of the photovoltaic module 1 is rectangular, the number of the side frames of the module is four, and each side frame is provided with a group of image acquisition devices 3. Four side frames are defined as a first long side frame 110, a second long side frame 111, a first short side frame 112 and a second short side frame 113, respectively, and four image capturing devices 3 are defined as a first long side frame image capturing device, a second long side frame image capturing device, a first short side frame image capturing device and a second short side frame image capturing device, respectively.

In some embodiments, the first guide mechanism 30 may be a linear guide mechanism. The linear guide mechanism and the image acquisition device 3 may constitute a linear scanning device, and the image acquisition mode may be linear scanning. The linear guide mechanism can be a screw rod nut mechanism, a guide rail slide block mechanism and the like. The linear guide mechanism may be driven electrically, pneumatically, or hydraulically.

Taking the electrically driven linear guide mechanism as an example, as shown in fig. 7 and 8, the first guide mechanism 30 of the image capturing device 3 is an X-axis traverse linear motor, and an industrial-grade camera is fixed thereon. During specific implementation, the industrial camera shoots, collects and glues 12 images of the gap along the extending direction of the corresponding side frame under the driving of the X-axis transverse moving linear motor.

As shown in fig. 8, when the photovoltaic module 1 is rectangular, the module frame 11 includes four corner diagonal points, namely a first corner diagonal point 114, a second corner diagonal point 115, a third corner diagonal point 116 and a fourth corner diagonal point 117. After the position of the photovoltaic assembly 1 is restored, the first guide mechanism 30 moves to the first corner diagonal point 114 and moves linearly to the second corner diagonal point along the extending direction of the side frame, the image sensor 31 shoots the position, shape and size of the glue applying gap 12 on the collecting assembly frame 11, the coordinate data of the glue lacking position is calculated through the existing image analysis technology, and the controller 6 transmits the coordinate data of the glue lacking position to the multi-degree-of-freedom glue applying device 4. And other side frames also carry out image acquisition according to the image acquisition mode.

Fig. 9 illustrates a schematic structural diagram of the multiple degree of freedom gluing device in the embodiment of the utility model. As a possible implementation manner, as shown in fig. 3 and 9, the multiple degree of freedom glue applying device 4 is located above the position correcting device 5, and includes a second guiding mechanism 40, a rotary glue applying head 41, a height sensor 42, and a reversing sensor 43. The controller 6 is electrically connected to the second guide mechanism 40, the rotary gluing head 41, the height sensor 42 and the direction sensor 43, respectively. The rotary glue applying head 41 is arranged on the second guide mechanism 40. The height sensor 42 is used for detecting the relative height between the rotary glue applying head 41 and the bottom of the assembly frame 11, and the direction sensor 43 is used for detecting the relative position between the rotary glue applying head 41 and the corner of the assembly frame 11. The relative height refers to the height of the rotary glue applying head 41 relative to the contact surface 220 of the component frame 11 contacting the carrier 22 when the component frame 11 is laid on the carrier 22.

In some embodiments, as shown in fig. 9, the second guide mechanism 40 is a three-dimensional guide mechanism, and includes a vertical direction guide mechanism 400, a first horizontal direction guide mechanism 401, and a second horizontal direction guide mechanism 402. The first horizontal direction guide mechanism 401 is arranged on the vertical direction guide mechanism 400, the second horizontal direction guide mechanism 402 is arranged on the first horizontal direction guide mechanism 401, and the rotary type gluing head 41 is arranged on the second horizontal direction guide mechanism 402. The rotary glue applying head 41 is guided by the second guide mechanism 40 to apply glue to the glue applying gap 12 on the photovoltaic assembly frame 11 in multiple angles and multiple postures, so that the glue applying shape diversification of the glue applying gap 12 on the assembly frame 11 is ensured.

In some embodiments, the guiding direction of vertical guide mechanism 400 is the same as the thickness direction of component frame 11, which is the thickness direction of component frame 11 when component frame 11 is laid flat on carrier plate 22.

In some embodiments, the angle between the guiding direction of the first horizontal guiding mechanism 401 and the guiding direction of the second horizontal guiding mechanism 402 is 90 °.

In some embodiments, as shown in fig. 9, the rotary glue applying head 41 includes a rotary driving member 410 and a glue applying head 411 disposed on the rotary driving member 410. The rotary drive member 410 is provided on the second horizontal direction guide mechanism 402. The rotary driving element 410 can drive the gluing head 411 to rotate, so that the rotation angle of the rotary gluing head 41 is greater than 0 °. For example: the rotation angle of the rotary glue applying head 41 can be 90 °, 180 °, 360 ° or the like.

In some embodiments, when the automatic gluing device is in the gluing state, the height sensor 42 is located on the second guiding mechanism 40 near the outer side wall of the assembly frame 11, and the direction sensor 43 is located on the outer side wall of the rotary gluing head 41 near the corner of the assembly frame 11.

As shown in fig. 8 and 9, when the photovoltaic module frame 11 is rectangular, after the module position is completely restored, after a short interval when the image capturing device 3 starts image capturing, the height sensor 42 detects the height of the rotary glue applying head 41 relative to the bottom of the module frame 11, and then sends the data to the vertical direction guide mechanism 400. The vertical direction guide mechanism 400 is lowered to the glue station 120 shown in fig. 8. Then, the first horizontal direction guide mechanism 401 and the second horizontal direction guide mechanism 402 move to the first glue application start position 121 and move to the glue shortage position according to the position coordinate data which is sent by the image acquisition device 3 and needs to be applied with glue. At this time, the glue applying head sprays the silica gel, and the first direction guide mechanism and the second direction guide mechanism start to move along the extending direction of the first long side frame 110, so that the first long side frame 110 of the photovoltaic module 1 finishes applying the glue. When the first gluing binding position 122 is moved, the reversing sensor 43 impacts the second short side frame 113 of the photovoltaic module 1, the driving piece 410 is rotated to drive the gluing head to rotate 90 degrees, meanwhile, the first horizontal direction guide mechanism 401 and the second horizontal direction guide mechanism 402 move to the second gluing start position 123, and the image acquisition device 3 is started and gives out measurement data. Beat and glue head 411 and remove to the scarce position of gluing of second short side frame 113 under the drive of first horizontal direction guiding mechanism 401 and second horizontal direction guiding mechanism 402, then begin to spout silica gel, first horizontal direction guiding mechanism 401 and second horizontal direction guiding mechanism 402 begin to remove along the extending direction of second short side frame 113 simultaneously, when removing to the second and beat and glue end position 124, reversing sensor 43 strikes photovoltaic module 1 second long side frame 111, photovoltaic module 1 first short side frame 113 is accomplished to beat and is glued. According to the gluing mode, the gluing of the second long side frame 111 and the first short side frame 112 of the photovoltaic module 1 is also completed, and the whole module completes the whole section or subsection gluing of the back plate surface frame.

According to the composition structure and the specific implementation process of the automatic gluing device, the automatic gluing device provided by the embodiment of the utility model can realize multi-angle and multi-posture gluing of the gluing gap 12 on the photovoltaic assembly frame 11 by using the rotary gluing head 41, so that the gluing shape diversification of the gluing gap 12 on the assembly frame 11 is ensured. In addition, the full-automatic gluing process shortens the gluing time and improves the production efficiency.

In some embodiments, the vertical direction guide mechanism 400, the first horizontal direction guide mechanism 401, and the second horizontal direction guide mechanism 402 may be linear guide mechanisms. These linear guide mechanisms may be lead screw and nut mechanisms, rail slider mechanisms, and the like. The linear guide mechanism may be driven electrically, pneumatically, or hydraulically.

Taking an electrically driven linear guide mechanism as an example, as shown in fig. 9, in this case, the vertical direction guide mechanism 400 is a Z-axis linear motor, the first horizontal direction guide mechanism 401 is an X-axis linear motor, the second horizontal direction guide mechanism 402 is a Y-axis linear motor, and the rotary glue applying head 41 is disposed below the Y-axis linear motor. Illustratively, as shown in fig. 9, the rotary glue applying head 41 may include a rotary cylinder 4100, a glue applying head 411, and a fixing part 4101, wherein a height sensor 42, such as a laser distance measuring sensor, is installed at one side of the fixing part 4101, a glue applying head 411, such as a glue applying valve, is installed at the other side of the fixing part 4101, and a reversing sensor 43 is installed at the other side of the glue applying valve. In specific implementation, as shown in fig. 8 and 9, after the assembly is completely restored, the laser ranging sensor detects height data of the gluing head 411 relative to the photovoltaic assembly frame 11, and then sends a signal to the Z-axis linear motor to enable the Z-axis linear motor to descend to the gluing working position 120. Then, the X-axis linear motor and the Y-axis linear motor receive the data of the coordinates of the glue-missing position sent by the image acquisition device 3, move to the first glue-applying starting position 121, and move to the coordinates of the glue-missing position, at this time, the glue-applying valve is opened, the silica gel is sprayed out from the glue-applying valve, the X, Y-axis linear motor starts to move and discharge the glue, and when the X-axis linear motor and the Y-axis linear motor move to the first glue-applying binding position 122, the glue-applying of the glue-applying gap 12 on the first long-side frame 110 is finished. The subsequent processes are the same as those described above and will not be described in detail here.

Illustratively, the number of the multi-degree-of-freedom glue applying devices 4 can be two, so that the glue applying speed can be increased, and the production efficiency can be further improved.

In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides an automatic beat mucilage binding and put which characterized in that for beat to photovoltaic module's frame and glue, automatic beat the mucilage binding and put and include: the device comprises a bearing structure, an image acquisition device, a multi-degree-of-freedom gluing device and a controller which is electrically connected with the bearing structure and the image acquisition device respectively; wherein the content of the first and second substances,

the bearing structure is provided with a bearing area for accommodating and bearing the photovoltaic assembly; the image acquisition device is used for acquiring gluing gap images of the frame positioned in the bearing area; the multi-degree-of-freedom glue applying device is used for applying glue in the glue applying gap.

2. The automatic gluing device of claim 1, wherein the image acquisition device comprises a first guide mechanism and an image sensor arranged on the first guide mechanism, and the image sensor and the first guide mechanism are both electrically connected with the controller; wherein the content of the first and second substances,

the frame comprises at least three side frames, the number of the image acquisition devices is at least three, and each image acquisition device is close to the corresponding side frame; wherein the content of the first and second substances,

the guiding direction of the first guiding mechanism is consistent with the extending direction of the corresponding side frame; and/or the presence of a gas in the gas,

the first guide mechanism is a linear guide mechanism.

3. The automatic gluing device of claim 1, wherein the multi-degree-of-freedom gluing device comprises: the second guide mechanism, the rotary glue applying head, the height sensor and the reversing sensor are respectively electrically connected with the controller; the rotary glue beating head is arranged on the second guide mechanism;

height sensor is used for detecting the rotary type is beaten and is glued the head relative the height of the bottom of frame, the switching-over sensor is used for detecting the rotary type is beaten and is glued the relative position between head and the frame turning.

4. The automatic gluing device of claim 3, wherein the second guide mechanism is a three-dimensional guide mechanism; the three-dimensional guide mechanism includes: the rotary glue beating device comprises a vertical direction guide mechanism, a first horizontal direction guide mechanism and a second horizontal direction guide mechanism, wherein the first horizontal direction guide mechanism is arranged on the vertical direction guide mechanism, the second horizontal direction guide mechanism is arranged on the first horizontal direction guide mechanism, and the rotary glue beating head is arranged on the second horizontal direction guide mechanism;

the guide direction of the vertical direction guide mechanism is the same as the thickness direction of the frame, and an included angle is formed between the guide direction of the first horizontal direction guide mechanism and the guide direction of the second horizontal direction guide mechanism.

5. The automatic gluing device of claim 4, wherein the rotary gluing head comprises a rotary driving member and a gluing head arranged on the rotary driving member, and the rotary driving member is arranged on the second horizontal direction guiding mechanism;

when the automatic gluing device is in a gluing state, the height sensor is arranged on the outer side wall, close to the frame, of the second guide mechanism; and/or the presence of a gas in the gas,

when the automatic gluing device is in a gluing state, the reversing sensor is arranged on the outer side wall of the corner of the frame, and the rotary gluing head is close to the outer side wall of the corner of the frame.

6. The automatic gluing device according to any one of claims 1 to 5, further comprising a position correction device electrically connected to the controller, wherein the position correction device is configured to perform position correction on the frame located in the carrying area.

7. The automatic gluing device of claim 6, wherein the frame has at least one first side frame and at least one second side frame; the extending directions of the at least one first side frame and the at least one second side frame are different;

the position correction device comprises at least one first side frame positioning mechanism and at least one second side frame positioning mechanism, each first side frame positioning mechanism is close to the corresponding first side frame, and each second side frame positioning mechanism is close to the second side frame;

at least one first side frame positioning mechanism and/or at least one second side frame positioning mechanism is a push rod mechanism.

8. The automatic gluing device of claim 7, wherein when the photovoltaic module is rectangular, the first side frame is a long side and the second side frame is a short side, wherein,

the number of first side frame positioning mechanisms is greater than the number of second side frame positioning mechanisms, and/or,

the number of the first side frame positioning mechanisms is two, and the number of the second side frame positioning mechanisms is one.

9. The automatic gluing device of claim 6, wherein the position correction device, the image acquisition device and the multi-degree-of-freedom gluing device are all arranged on the bearing structure, and the image acquisition device and the multi-degree-of-freedom gluing device are positioned above the position correction device.

10. The automatic gluing device according to any one of claims 1 to 5, wherein the carrying structure comprises a frame and a transmission line for transmitting the photovoltaic module to the frame, and the transmission line transmits the photovoltaic module to the carrying area; wherein the content of the first and second substances,

the bearing structure further comprises a carrier plate positioned on the transmission line.