Modularized heliostat surface shape rapid assembling platform and assembling method

Abstract

The invention provides a modular heliostat surface shape rapid assembling platform, the assembling platform is composed of a movable reference platform, a transmission branch chain and a fixed base, the movable reference platform is connected with the fixed base through the transmission branch chain, the movable reference platform is composed of a platform support, a mounting flat plate and a pneumatic positioning device, and the platform support is connected with the mounting flat plate through the transmission branch chain. The platform support is composed of an outer ring support, an inner ring support and a communicating support, the plane geometric center points of the inner ring support and the outer ring support coincide, the geometric center points are the center of the movable reference platform, the center line of the plane of the communicating support coincides with the center of the movable reference platform, and the included angle between the center line of the plane of the communicating support and the center line of the plane of the communicating support is 120 degrees. Mounting plates are arranged on the end face of the communicating support, and the mounting plates are distributed in an equilateral triangle shape. Compared with the prior art, the method does not need a complex process of measuring single planar sub-mirrors one by one and calculating a positioning reference, can carry out the flexible combination of sub-positioning platforms, is suitable for the surface shape assembly of various types of heliostats, improves the universality of assembly equipment, and effectively reduces the manufacturing, transportation and maintenance cost of the whole equipment. The method is not influenced by external conditions such as climate or illumination, has the characteristics of no error accumulation, and can realize high-precision motion control.

Description

Technical Field

[0001] This invention relates to the field of heliostat production and manufacturing technology, specifically to a modular heliostat surface rapid assembly platform and assembly method. Background Technology

[0002] In tower-type concentrated solar power (CSP) plants, heliostats rely on their reflectors to reflect and converge sunlight. The heliostat surface shape refers to the geometry and curvature distribution of the mirror surface, and surface assembly is a crucial step in the heliostat manufacturing process. The accuracy of the surface shape directly affects the accuracy of the reflected light spot and the energy density distribution of the receiver, making it a key indicator for evaluating heliostat product quality. Currently, in commercially operating CSP plants, heliostats often employ a planar sub-mirror splicing method, which improves optical performance, reduces maintenance costs, and enhances environmental adaptability and intelligent control capabilities.

[0003] The assembly of the reflectors in a modular heliostat requires first determining the positioning reference for each plane mirror, and then assembling and fixing the plane mirrors one by one. Typically, the positioning reference for each plane mirror is measured and determined relative to the mounting plane of the supporting structure using methods such as laser ranging or visual inspection. The relative height of the plane mirror's mounting plane to the supporting structure is adjusted by the length of the screw or the height of the shims. However, determining the positioning reference for the plane mirrors using laser ranging or visual inspection has the following problems.

[0004] 1. High sensitivity and dependence on the environment. Laser ranging is easily affected by atmospheric conditions. Changes in refractive index can lead to errors in propagation distance, and vibration or electromagnetic interference can reduce signal stability. Poor or uneven lighting conditions can cause the failure of feature point extraction in visual detection, affecting positioning accuracy.

[0005] 2. High computational complexity and low assembly efficiency. It requires real-time processing of large amounts of coordinate or image data, places high demands on the robustness of the algorithm, and is susceptible to motion blur; the measurement process and the adjustment of the positioning reference on the support structure are time-consuming, resulting in low overall assembly efficiency.

[0006] 3. Poor dynamic adaptability. It requires high positional accuracy of the heliostat support structure and an unobstructed environment. The laser repositioning capability is weak, and it is difficult to recover the target after it is lost.

[0007] 4. High cost and complex maintenance. High-precision laser interferometers require a constant temperature environment (±0.1℃) and regular calibration, resulting in high equipment costs and complicated maintenance; visual inspection technology requires professional technicians to operate, increasing labor costs. Summary of the Invention

[0008] To address the problems existing in the prior art, this invention proposes a modular heliostat surface rapid assembly platform and assembly method.

[0009] This invention provides a modular heliostat surface-shaped rapid assembly platform. The assembly platform consists of a movable reference platform, a transmission chain, and a fixed base. The movable reference platform is connected to the fixed base via the transmission chain. The movable reference platform consists of a platform support, a mounting plate, and a pneumatic positioning device. The platform support consists of an outer ring support, an inner ring support, and a connecting support. The planar geometric center points of the inner ring support and the outer ring support coincide, and the geometric center point is the center of the movable reference platform. The center lines of the planes of the connecting supports coincide with the center of the movable reference platform and form a 120° angle with each other. A mounting plate is provided on the end face of the connecting support, and the mounting plates are distributed in an equilateral triangle.

[0010] Furthermore, eight pneumatic positioning devices are evenly arranged around the platform support. Each pneumatic positioning device consists of a connecting bracket, a cylinder, a guide column, a moving end plate, a limiting plate, and adjusting bolts. The axis of the guide column is parallel to the axis of the cylinder piston rod.

[0011] Furthermore, the transmission chain consists of a rotating hinge support, an intermediate mounting bracket, a screw jack, a spherical hinge rod, a spherical hinge support, a drive motor, and an encoding sensor. The spherical hinge support is distributed in an equilateral triangle around the center of the movable reference platform, and the symmetry planes of the spherical hinge support intersect the vertical normal of the center of the movable reference platform.

[0012] Furthermore, circular air holes are provided at the center and four corners of the mounting plate to serve as airflow channels for vacuuming.

[0013] Furthermore, the fixed base consists of a base bracket and a mounting bracket, and the upper surface of the base bracket is provided with mounting holes, which are distributed in an equilateral triangle.

[0014] This invention provides a method for rapid assembly of modular heliostat surfaces, the specific steps of which include:

[0015] S01. Based on the design parameters of the heliostat surface, calculate the adjustment value of the transmission chain of each sub-positioning platform.

[0016] S02. Adjust each sub-positioning platform according to the adjustment value to form a heliostat assembly platform.

[0017] S03. Using the upper surface of the sub-positioning platform as the positioning reference, place the reflective surfaces of the heliostat mirrors onto the reference surface of the sub-positioning platform in sequence.

[0018] S04. Activate the pneumatic positioning device to position each sub-mirror in the horizontal direction.

[0019] S05. Transport the heliostat support structure to the heliostat assembly platform and position it precisely.

[0020] S06. Combine the support structure with the assembled heliostat.

[0021] Furthermore, in step S01, the specific calculation steps for the adjustment values ​​of the transmission branches of each sub-positioning platform include:

[0022] S01-1, Using the center point P of the central sub-positioning platform as the reference point. 00 If a coordinate system is established with point as the origin, then the plane equation of the plane on each sub-positioning platform can be expressed as: a i (X) ij -X i0 )+b i (Y) ij -Y i0 )+c i (Z) ij -Z i0 ) = 0 i represents the platform sequence number; j represents the sequence number of the corresponding point on the platform. a0 and b0 are always zero, and the middle platform remains horizontal and does not make any Z-axis adjustments.

[0023] S01-2, Based on the angle between the normals of the central sub-positioning platform and the upper surface of the surrounding sub-positioning platforms. Point P on the horizontal plane of the surrounding sub-positioning platform i0 Coordinates, point P i1 Coordinates, point P i2 Coordinates and point P i3 Coordinates are used to calculate the unit vector n of the surrounding sub-positioning platforms. i (a i b i c i The specific calculation formula is as follows: ; ; ; Among them, point P i0 Let P be the center point of the i-th platform; P is the sub-positioning platform. i0 The point keeps its coordinates unchanged, Z i0 It is always 0.

[0024] S01-3, Point P i1 Coordinates, point P i2 Coordinates and point P i3 Substituting the coordinates into the plane equation, we obtain point P. i1 Point P i2 and point P i3 The Z-axis coordinate value.

[0025] S01-4. Adjust the displacement value of the transmission chain of each sub-positioning platform according to the Z-axis coordinate value. If the Z-axis coordinate value is positive, increase it; if the Z-axis coordinate value is negative, decrease it.

[0026] Furthermore, prior to step S01, the assembly platform is pre-adjusted, and the specific pre-adjustment steps include...

[0027] S01-11. Determine the position of the center point Pi0 of the sub-positioning platform, and determine the positions of points Pi1, Pi2 and Pi3 corresponding to the transmission branches.

[0028] S02-12. Using the height reference of point P00, adjust the middle sub-positioning platform to be level by adjusting the transmission chain.

[0029] S03-13. Using the central platform as a reference, adjust the surrounding sub-positioning platforms to be level by adjusting the transmission chain.

[0030] S04-14 After the entire assembly platform has been adjusted, reset the rotary encoders on all transmission chains to zero as the adjustment reference.

[0031] Furthermore, in step S06, the specific steps for assembling the support structure with the assembled heliostat include...

[0032] S01. The support structure descends to a preset position, the mirror holder screw passes through the round hole on the support structure, and the rubber plug on the mirror holder screw seals the lower surface of the round hole. The support structure and the mirror holder screw cooperate to form a cavity with the upper end open and the other five sides closed.

[0033] S02. Pour potting resin into the cavity until it reaches two-thirds of its height.

[0034] S03. After standing for 20 minutes, the resin will be completely solidified, and the heliostat plane will be connected to the support structure as a whole, maintaining the set surface shape of the heliostat.

[0035] Furthermore, before the pre-adjustment of the assembly platform, the assembly of the sub-positioning platform is also included, and the specific steps for assembling the sub-positioning platform include...

[0036] S1. Place the fixed support flat on the assembly platform.

[0037] S2. Install the three transmission chains onto the fixed supports respectively.

[0038] S3. Install the pneumatic positioning device onto the moving reference platform.

[0039] S4. Place the movable reference platform flat on the three transmission chains and align the threaded connection holes of the transmission chains and the movable reference platform.

[0040] S5. Adjust the horizontal position of the active reference platform and the fixed support until the four sides are aligned.

[0041] S6. Place the heliostat mirror on the upper surface of the movable reference platform and manually adjust it to the set position.

[0042] S7. Start the pneumatic positioning device.

[0043] S8. Using the heliostat mirror as a reference, adjust and tighten the installation position of the pneumatic positioning device.

[0044] S9. Withdraw the pneumatic positioning device and remove the heliostat plane sub-mirror.

[0045] S10. Complete the assembly of the sub-positioning platform.

[0046] Compared with the prior art, the present invention has the following advantages.

[0047] 1. The assembly platform provided by this invention directly determines the surface angle of each planar sub-mirror by adjusting the platform surface shape, eliminating the need for the complex process of measuring and calculating the positioning reference for each individual planar sub-mirror.

[0048] 2. The assembly platform provided by this invention adopts a modular design, which allows for flexible combination of sub-positioning platforms and is suitable for the surface assembly of various types of heliostats, thereby improving the versatility of the assembly equipment and effectively reducing the overall equipment manufacturing, transportation and maintenance costs.

[0049] 3. The assembly platform provided by this invention uses a mechanical parallel mechanism to precisely adjust the surface shape, and is not affected by external conditions such as climate or light.

[0050] 4. The assembly platform provided by this invention adopts the characteristics of parallel transmission chains and no error accumulation, which can realize high-precision motion control. Attached Figure Description

[0051] Figure 1 A schematic diagram of the structure of the heliostat surface-shaped rapid assembly platform provided by the present invention.

[0052] Figure 2 Structure diagram of the sub-mirror-shaped positioning platform.

[0053] Figure 3 Activity baseline platform structure diagram.

[0054] Figure 4 Platform support structure diagram.

[0055] Figure 5 pneumatic positioning device structure Figure 1 .

[0056] Figure 6 pneumatic positioning device structure Figure 2 .

[0057] Figure 7 Transmission chain structure diagram.

[0058] Figure 8 Structure diagram of the fixed base.

[0059] Figure 9 Assembly flowchart of the heliostat mirror-shaped rapid assembly platform.

[0060] Figure 10 Pre-adjustment flowchart of the heliostat mirror-shaped rapid assembly platform.

[0061] Figure 11 Flowchart for rapid assembly of heliostat surfaces.

[0062] Figure 12 Schematic diagram of coordinate points for a rapid assembly platform for heliostat surfaces.

[0063] Figure 13 Flowchart of the supporting structure and the assembled heliostat.

[0064] Figure 14 Schematic diagram of the supporting structure and the assembled heliostat assembly. Figure 1 .

[0065] Figure 15 Schematic diagram of the supporting structure and the assembled heliostat assembly. Figure 2 .

[0066] 1-Sub-mirror-shaped positioning platform, 2-Support structure, 3-Round hole, 4-Mirror support screw, 5-Rubber plug, 6-Cavity, 7-Resin, 10-Modible reference platform, 11-Platform bracket, 12-Mounting plate, 13-Pneumatic positioning device, 21-Rotating hinge support, 22-Intermediate mounting bracket, 23-Screw jack, 24-Spherical hinge rod, 25-Spherical hinge support, 26-Drive motor, 27-Encoding sensor, 20-Transmission chain, 30 - Fixed base, 31- Base bracket, 32- Mounting support, 11.1- Outer ring bracket, 11.2- Inner ring bracket, 11.3 Connecting bracket, 11.4- Installation position, 12.1- Upper end face of mounting plate, 12.2- Circular air hole, 11.3- Hole, 13.1- Connecting bracket, 13.2- Cylinder, 13.3- Guide column, 13.4- Moving end plate, 13.5- Limiting plate, 13.6- Adjusting bolt, 31.1- Mounting hole. Detailed Implementation

[0067] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0068] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices. In the embodiments of this application, certain software, components, models, and other existing industry solutions may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solutions of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0069] The acquisition, transmission, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0070] Example 1.

[0071] The modular heliostat rapid assembly platform proposed in this invention consists of a movable reference platform, a transmission chain, and a fixed base. The movable reference platform is connected to the fixed base via the transmission chain. The movable reference platform consists of a platform support, a mounting plate, and a pneumatic positioning device. The platform support consists of an outer ring support, an inner ring support, and a connecting support. The planar geometric center points of the inner ring support and the outer ring support coincide, and the geometric center point is the center of the movable reference platform. The center lines of the planes of the connecting supports coincide with the center of the movable reference platform and form a 120° angle with each other. The end face of the connecting support is provided with a mounting plate, and the mounting plates are distributed in an equilateral triangle.

[0072] The following section uses a rapid assembly platform for a heliostat surface with a 3×3 sub-mirror arrangement (composed of 9 sets of sub-positioning platforms) as an example to provide a detailed description of each component of the modular rapid assembly platform for a heliostat surface proposed in this invention.

[0073] 1. Rapid assembly platform for heliostat surfaces.

[0074] The heliostat rapid assembly platform is composed of sub-mirror positioning platforms assembled according to the heliostat mirror assembly structure. The number and relative installation positions of the sub-mirror positioning platforms are determined by the layout of the heliostat's reflectors. For example... Figure 1 As shown, this is a rapid assembly platform for the heliostat surface shape used in a 3×3 sub-mirror arrangement, which consists of 9 sets of sub-mirror surface shape positioning platforms.

[0075] The process based on the rapid surface assembly platform for heliostats differs from the traditional assembly process of sub-mirrors. The rapid surface assembly platform for heliostats uses a reverse-mounting method for the sub-mirrors. Using the upper surface of the sub-mirror positioning platform as the positioning reference, the sub-mirror reflective surfaces are placed on the platform's reference surface. According to the surface design, the platform's parallel mechanism automatically adjusts the relative height and attitude angle of the reference surface. Pneumatic positioning devices arranged around the platform are used to position the sub-mirrors horizontally on the reference surface. After the sub-mirrors' surface angle and horizontal position are positioned, they are vacuum-adheded and fixed using suction cups with air holes on the platform's reference surface. Once the sub-mirrors are positioned and fixed, the support structure is inverted and threaded onto the mounting screws of the sub-mirrors for potting and curing.

[0076] The assembly process of sub-mirrors on the rapid assembly platform for heliostat surfaces is uniformly set and operated in the host system. The platform uses a PLC controller to control the actuators of the sub-mirror surface platform to complete the surface adjustment, positioning, and fixing tasks during the sub-mirror assembly process.

[0077] 2. Sub-mirror surface positioning platform.

[0078] The installation process for the sub-mirrors of a heliostat requires that each sub-mirror be installed according to its surface shape requirements, while its positional spacing meets design requirements. When each sub-mirror is connected and fixed to the supporting structure, the position and surface shape of each sub-mirror must be kept stable.

[0079] The sub-mirror surface positioning platform is designed according to the above process requirements, and has sub-mirror surface shape adjustment, position positioning, and adsorption fixation functions. For example... Figure 2 As shown, this is a single mirror-shaped positioning platform, which consists of a movable reference platform, a transmission chain, and a fixed base.

[0080] 2.1 Activity benchmark platform.

[0081] The active reference platform is located on top of the sub-mirror surface positioning platform and is used for the positioning and fixing of each sub-mirror during the surface assembly process. For example... Figure 3 As shown, the active reference platform consists of a platform support, a mounting plate, and a pneumatic positioning device.

[0082] 2.1.1 Install the tablet.

[0083] like Figure 3 As shown, the upper surface of the mounting plate is the main working surface, supporting the sub-mirror and fixing it to the reflector surface. Due to the flatness requirements of the heliostat reflector surface, the upper surface of the mounting plate requires high flatness precision; therefore, the mounting plate and platform support must be welded together and then machined as a whole. Circular air holes are provided at the center and four corners of the mounting plate as airflow channels for vacuuming. The pressure difference between the inside and outside of the reflector firmly adheres the sub-mirror to the top surface of the movable platform. The air hole design on the mounting plate, in conjunction with the air path, control valve, and vacuum generator components, allows operators to remotely control the adsorption and fixation of the sub-mirror on the platform. Partially perforated holes are provided on the mounting plate surface to reduce overall weight while providing space for installation and maintenance.

[0084] 2.1.2 Platform support.

[0085] like Figure 4 As shown, the platform support body is integrally welded from rectangular or square steel. The planar support consists of an outer ring support, an inner ring support, and connecting supports. The planar geometric center points of the inner ring support and the outer ring support coincide, and these center points are the center of the movable reference platform. The connecting supports are used to connect the inner and outer ring supports. The planar center lines of the three connecting supports coincide at the center of the movable reference platform and are evenly arranged at 120° angles to each other.

[0086] The top end face of the platform support and the bottom end face of the mounting plate are assembled by welding. The connecting bracket end face at the bottom of the platform support has mounting positions for connecting the spherical hinge support in the transmission chain; these mounting positions are distributed in an equilateral triangle. The outer edge end face of the outer ring support of the platform support has mounting positions for connecting pneumatic positioning devices; each side of the square outer ring support has two sets of pneumatic positioning devices.

[0087] 2.1.3 Pneumatic positioning device.

[0088] The pneumatic positioning device installed on the outer end face of the platform support is used for the position correction and positioning of the sub-mirror on the surface positioning platform.

[0089] like Figures 5-6As shown, the pneumatic positioning device consists of a connecting bracket, a cylinder, guide columns, a moving end plate, a limiting plate, and adjusting bolts. The connecting bracket is the load-bearing component of the pneumatic positioning device, bolted to the outer end face of the platform support. The cylinder is the motion actuator of the pneumatic positioning device, fixed to the vertical end face of the connecting bracket, and its axial extension and retraction movement of the cylinder piston rod is controlled by controlling the airflow direction at the inlet and outlet. Two sets of guide columns are arranged on both sides of the cylinder, also installed on the vertical end face of the connecting bracket, with the axis of the guide columns parallel to the axis of the cylinder piston rod. The main function of the guide columns is to guide the cylinder movement and prevent complete deformation of the device. The moving end plate is installed at the end of the cylinder piston rod, maintaining synchronization with the piston rod's extension and retraction movement. The limiting plate and adjusting bolts are both installed on the moving end plate, allowing for reciprocating motion. The limiting plate is installed on top of the moving end plate, with the normal direction of its inner end face parallel to the axis of the cylinder piston rod and guide columns. During operation, the pneumatic positioning device contacts the edge of the sub-mirror and pushes it towards the center of the mounting plate. The limit plate is made of hard rubber to provide anti-slip and shock absorption. The adjusting bolt is installed on the mounting thread on the end face of the moving end plate, and the position of the sub-mirror moving towards the center of the mounting plate is controlled by adjusting the depth of the bolt's mounting thread.

[0090] Working principle of the pneumatic positioning device: Before assembling the heliostat mirrors, each sub-mirror needs to be positioned and fixed on the surface shape adjustment platform. The horizontal position correction and positioning of each individual sub-mirror is achieved by pneumatic positioning devices arranged around the sub-mirror surface shape positioning platform. When the sub-mirror is placed on the mounting plate of the corresponding surface shape positioning platform by the stacking equipment, the piston rod, moving end plate, and limit plate of the cylinder are controlled by the upper system to retract towards the center of the movable reference platform. During the retraction stroke of the cylinder, the inner end face of the limit plate will contact the edge of the sub-mirror reflector and push the sub-mirror to move until the head of the adjusting bolt installed on the moving end plate contacts the side end face of the platform support and stops moving. Through the cooperation of the eight pneumatic positioning devices set around the individual surface shape positioning platform, the sub-mirror on the mounting plate is corrected to the fixed position relative to the surface shape positioning platform. After the sub-mirror on the surface shape positioning platform is fixed by vacuuming through the circular air hole on the mounting plate, the piston rod, moving end plate, and limit plate of the cylinder are controlled by the upper system to move away from the center of the movable reference platform until the cylinder reaches its maximum stroke in this direction and stops moving.

[0091] 2.2 Transmission branch chain.

[0092] The transmission mechanism of the surface positioning platform adopts an equilateral triangle distribution structure formed by three sets of transmission branches connected in parallel. The transmission branches include revolute joints, prismatic joints, and ball joints, among which the prismatic joints are the active driving joints.

[0093] The surface positioning platform completes the surface adjustment function of the sub-mirror surface assembly stage through three sets of parallel transmission chains. The operator can set the coordinates of the reference surface center position of all surface positioning platforms in the heliostat surface rapid assembly platform and the angle value of the reference surface relative to the horizontal direction through the mechanism drive control.

[0094] The surface shape adjustment of the heliostat mirror is achieved using a parallel transmission chain mechanism, which features high precision and zero cumulative error. Due to its closed-loop structure design, motion errors do not accumulate step by step like in a serial mechanism, significantly improving positioning accuracy. The multi-branch parallel structure ensures uniform stress on the moving platform and high overall rigidity, meeting the requirements of heavy-duty scenarios. The drive unit is concentrated on the stationary platform, resulting in lightweight moving parts and enabling high-speed response. Furthermore, the overall platform is wider at the top and narrower at the bottom, with a compact structure that meets the structural requirements of assembling multiple sub-mirrors with small spacing in the heliostat.

[0095] like Figure 7 As shown, the transmission chain consists of a rotating hinge support, an intermediate mounting bracket, a screw jack, a spherical hinge rod, a spherical hinge support, a drive motor, and an encoder sensor.

[0096] The bottom of the rotating hinge support is mounted on the fixed base, realizing the physical connection between the transmission chain and the fixed base. The top of the rotating hinge support is connected to the intermediate mounting bracket via a revolute joint, and the intermediate mounting bracket of the moving chain rotates along the central axis of the revolute joint. The parallel transmission chain mechanism requires that the rotating hinge supports be distributed in an equilateral triangle around the center of the fixed base, and that the normals to the center of the rotation axis converge on the normal line passing through the center of the fixed base and perpendicular to the end face of the fixed base.

[0097] The bottom of the intermediate mounting bracket is pivotally hinged to the pivot support, and the intermediate mounting bracket is provided with mounting holes to support and mount the screw jack, drive motor and encoder sensor respectively.

[0098] The screw jack is the main component that realizes the moving motion in the transmission chain. The screw jack is mounted on the horizontal mounting surface of the intermediate mounting bracket via a threaded connection using a bottom flange plate. Functionally, the screw jack converts rotary motion into linear motion. The transmission structure consists of a worm gear and a ball screw drive mechanism. The worm gear mechanism converts externally loaded rotational motion along the horizontal axis into rotational motion along the vertical axis, while the ball screw mechanism converts rotational motion along the vertical axis into linear motion along the vertical axis. High-precision worm gears and ball screws in the screw jack ensure overall motion accuracy. The worm gear mechanism also has a self-locking characteristic, preventing reverse movement due to external forces when the mechanism stops, eliminating the need for additional locking devices. The screw end of the top of the screw jack is threaded for easy connection and assembly with a spherical hinge rod.

[0099] The spherical hinge rod is connected to the end of the lead screw of the screw jack via a threaded connection. The initial distance of the moving pairs of the three sets of transmission chains on the same surface adjustment platform remains the same. The ball joint on the spherical hinge rod consists of an inner ball joint and an outer ball joint. The outer ball joint is integrated with the connecting rod, and the central cylindrical hole of the inner ball joint is used for the hinge of the ball joint.

[0100] The spherical hinge support is mounted on the movable reference platform and connected to the spherical secondary hinge rod via a pin. The parallel transmission chain mechanism requires the spherical hinge supports to be distributed in an equilateral triangle around the center of the positioning platform.

[0101] The drive motor is mounted on the intermediate mounting bracket, and its motor shaft is connected to one end of the worm shaft of the screw jack via a coupling. The drive motor enables automatic control of the movement on each transmission link, ensuring equipment accuracy and process assembly efficiency.

[0102] The encoder sensor is mounted on the intermediate mounting bracket, and its encoder shaft is connected to the other end of the worm shaft of the screw jack via a coupling. The encoder is installed to collect motion information in real time, enabling high-precision closed-loop control.

[0103] 2.3, 30 - Fixed base.

[0104] The fixed base is a fixed component in the mechanical mechanism of the surface positioning platform, used for fixing the mechanism and supporting the transmission chain and the movable reference platform.

[0105] like Figure 8 As shown, the fixed base consists of a base bracket and mounting supports. The main body of the base bracket is integrally welded from rectangular or square steel. Mounting holes are provided on the upper surface of the base bracket for fixed connection with the rotating hinge support in the transmission chain. The mounting positions are arranged in an equilateral triangle. The mounting supports are located at the four corners of the base bracket and are fixedly connected to a pre-installed mounting plate on the workshop floor. The pre-installed mounting plate must be leveled. To ensure high overall dimensional accuracy, the mounting surfaces and mounting holes of the fixed base must be welded and then machined as a whole.

[0106] Example 2.

[0107] The modular heliostat surface rapid assembly method proposed in this invention has the following specific steps.

[0108] 1. Assembly of the rapid assembly platform, i.e., assembly of the sub-positioning platform, such as... Figure 9 As shown, the specific steps for assembling the sub-positioning platform include...

[0109] S1. Place the fixed support flat on the assembly platform.

[0110] S2. Install the three transmission chains onto the fixed supports respectively.

[0111] S3. Install the pneumatic positioning device onto the moving reference platform.

[0112] S4. Place the movable reference platform flat on the three transmission chains and align the threaded connection holes of the transmission chains and the movable reference platform.

[0113] S5. Adjust the horizontal position of the active reference platform and the fixed support until the four sides are aligned.

[0114] Fine-tune the horizontal position of the movable reference platform and the fixed support, align the four sides, and use bolts to connect the transmission chain to the movable reference platform.

[0115] S6. Place the heliostat mirror on the upper surface of the movable reference platform and manually adjust it to the set position.

[0116] S7. Start the pneumatic positioning device.

[0117] S8. Using the heliostat mirror as a reference, adjust and tighten the installation position of the pneumatic positioning device.

[0118] S9. Withdraw the pneumatic positioning device and remove the heliostat plane sub-mirror.

[0119] S10. Complete the assembly of the sub-positioning platform.

[0120] 2. Pre-adjustment of the rapid assembly platform, such as... Figure 10 As shown, the specific steps of the pre-adjustment include...

[0121] S01-11. Determine the center point P of the sub-positioning platform. i0 The location is used to determine the point P corresponding to the transmission branch. i1 Point P i2 and point P i3 The location.

[0122] According to the design requirements, fix the sub-positioning platform to the designed position on the production line.

[0123] like Figure 9 As shown, P i0 Point P represents the center point of the i-th (0-8) block platform; i1 P i2 P i3 These correspond to the coordinates of the intersection points of the three transmission branches and the platform, respectively.

[0124] S02-12, with point P 00 The height reference is determined by adjusting the transmission chain to level the middle sub-positioning platform.

[0125] The three-dimensional coordinates of the midpoint of the central platform and the corresponding points on the branches were measured using a laser tracker. (P) 00Using the point as the height reference, the platform is adjusted to be horizontal (with the same z-axis coordinate value) by adjusting the three branches.

[0126] S03-13. Using the central platform as a reference, adjust the surrounding sub-positioning platforms to be level by adjusting the transmission chain.

[0127] Using the central platform as a benchmark, adjust the branches of the remaining 8 platforms in turn, bringing all platforms to the same level as the central platform.

[0128] S04-14 After the entire assembly platform has been adjusted, reset the rotary encoders on all transmission chains to zero as the adjustment reference.

[0129] After all platforms are adjusted to a horizontal plane, the rotary encoders on all transmission chains are reset to zero as the adjustment reference.

[0130] 3. Rapid assembly of heliostat surfaces, such as... Figure 11 As shown, the specific steps of the assembly method include:

[0131] S01. Based on the design parameters of the heliostat surface, calculate the adjustment value of the transmission branch of each sub-positioning platform; the specific calculation steps for the adjustment value of the transmission branch of each sub-positioning platform include.

[0132] S01-1, Using the center point P of the central sub-positioning platform as the reference point. 00 If a coordinate system is established with point as the origin, then the plane equation of the plane on each sub-positioning platform can be expressed as: a i (X) ij -X i0 )+b i (Y) ij -Y i0 )+c i (Z) ij -Z i0 ) = 0 i represents the platform sequence number; j represents the sequence number of the corresponding point on the platform. a0 and b0 are always zero, and the middle platform remains horizontal and does not make any Z-axis adjustments.

[0133] For example: Figure 12 As shown, the angle between the normal of the upper plane of the assembly platform (upper left) and the normal of the upper plane of the middle assembly platform is 0.05 rad. Calculate the adjustment values ​​required for points P11, P12, and P13.

[0134] The known coordinates are (all in mm): P10: (-2030, 1680, 0), P11: (-2630, 1680, Z) 11 P12: (-1730, 2200, Z) 12), P 13 : (-1730, 1160, Z) 13 ).

[0135] S01-2, Based on the angle between the normals of the central sub-positioning platform and the upper surface of the surrounding sub-positioning platforms, and point P on the upper surface of the surrounding sub-positioning platforms. i0 Coordinates, point P i1 Coordinates, point P i2 Coordinates and point P i3 Coordinates are used to calculate the unit vector n of the surrounding sub-positioning platforms. i (a i b i c i The specific calculation formula is as follows: ; ; ; Among them, point P i0 P is the center point of the i-th platform; P is the sub-positioning platform. i0 The point keeps its coordinates unchanged, Z i0 It is always 0.

[0136] For example: Find the value of P. 10 The plane normal vector of the point is: n = (0.039, -0.032, 0.999).

[0137] Therefore, the plane equation of assembly platform No. 1 is: 0.039 (X ij +2030) -0.032 (Y) ij -1680) + 0.999 (Z) ij -0) = 0.

[0138] S01-3, Point P i1 Coordinates, point P i2 Coordinates and point P i3 Substituting the coordinates into the plane equation, we obtain point P. i1 Point P i2 and point P i3 The Z-axis coordinate value.

[0139] Substituting the X and Y coordinates of points P11, P12, and P13, we can obtain the corresponding Z coordinates: Z 11 : 23.5mm, Z 12 4.95mm, Z 13 -28.3mm.

[0140] S01-4. Adjust the displacement value of the transmission chain of each sub-positioning platform according to the Z-axis coordinate value. If the Z-axis coordinate value is positive, increase it; if the Z-axis coordinate value is negative, decrease it.

[0141] S02. Adjust each sub-positioning platform according to the adjustment value to form a heliostat assembly platform.

[0142] Based on the displacement value that the transmission chain needs to be adjusted, the control program calculates the direction and angle that the drive motor needs to rotate. The motor drive device drives the motor to rotate, and the rotation angle is detected in real time by a rotary encoder, so as to realize the precise raising or lowering of the transmission chain and achieve the function of adjusting the surface angle.

[0143] S03. Using the upper surface of the sub-positioning platform as the positioning reference, place the reflective surfaces of the heliostat mirrors onto the reference surface of the sub-positioning platform in sequence.

[0144] Using a handling robot, with the upper surface of the sub-positioning platform as the positioning reference, the heliostat plane sub-mirrors are sequentially stacked on the nine adjustment platforms; the mirror support screws of the plane sub-mirrors are pointing upwards.

[0145] S04. Activate the pneumatic positioning device to position each sub-mirror in the horizontal direction.

[0146] The pneumatic positioning device is activated to position each planar sub-mirror in the horizontal direction. After the above actions are completed, the nine planar sub-mirrors have formed a concave-like reflector according to the technical requirements.

[0147] S05. Transport the heliostat support structure to the heliostat assembly platform and position it precisely.

[0148] Using hoisting equipment, the assembled heliostat support structure is transported to the top of the surface adjustment platform and precisely positioned; the heliostat support structure has round holes at positions corresponding to the mirror support screws of the planar sub-mirror, through which the mirror support screws can pass.

[0149] S06. Combine the support structure with the assembled heliostat.

[0150] like Figures 13-15 As shown, the specific steps for assembling the support structure with the assembled heliostat include:

[0151] S01. The support structure descends to a preset position, the mirror holder screw passes through the round hole on the support structure, and the rubber plug on the mirror holder screw seals the lower surface of the round hole. The support structure and the mirror holder screw cooperate to form a cavity with the upper end open and the other five sides closed.

[0152] S02. Pour potting resin into the cavity until it reaches two-thirds of its height.

[0153] S03. After standing for 20 minutes, the resin will be completely solidified, and the heliostat plane will be connected to the support structure as a whole, maintaining the set surface shape of the heliostat.

[0154] S04. Using hoisting equipment, lift the assembled heliostat upwards and transport it to the next work station.

[0155] The above description is merely a description of a preferred embodiment of the technical solution of the present invention and is not intended to limit the scope of the technical solution of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A modular heliostat surface rapid assembly platform, characterized in that, The assembly platform consists of a movable reference platform, a transmission chain, and a fixed base. The movable reference platform is connected to the fixed base via the transmission chain. The movable reference platform consists of a platform support, a mounting plate, and a pneumatic positioning device. The platform support consists of an outer ring support, an inner ring support, and a connecting support. The planar geometric center points of the inner ring support and the outer ring support coincide, and the geometric center point is the center of the movable reference platform. The center lines of the planes of the connecting supports coincide with the center of the movable reference platform and form a 120° angle with each other. The end face of the connecting support is provided with a mounting plate, and the mounting plates are distributed in an equilateral triangle.

2. The modular heliostat surface rapid assembly platform according to claim 1, characterized in that, Eight pneumatic positioning devices are evenly arranged around the platform support. Each pneumatic positioning device consists of a connecting bracket, a cylinder, a guide column, a moving end plate, a limiting plate, and adjusting bolts. The axis of the guide column is parallel to the axis of the cylinder piston rod.

3. A modular heliostat surface rapid assembly platform according to claim 1 or 2, characterized in that, The transmission chain consists of a rotating hinge support, an intermediate mounting bracket, a screw jack, a spherical hinge rod, a spherical hinge support, a drive motor, and an encoding sensor. The spherical hinge support is distributed in an equilateral triangle around the center of the movable reference platform, and the symmetry planes of the spherical hinge support intersect the vertical normal of the center of the movable reference platform.

4. The modular heliostat surface rapid assembly platform according to claim 3, characterized in that, The mounting plate has circular air holes at its center and four corners, which serve as airflow channels for vacuuming.

5. A modular heliostat surface rapid assembly platform according to claim 1 or 4, characterized in that, The fixed base consists of a base bracket and a mounting bracket. The upper surface of the base bracket is provided with mounting holes, which are distributed in an equilateral triangle.

6. A method for rapid assembly of a modular heliostat surface using the rapid assembly platform as described in claims 1-5, characterized in that, The specific steps of the assembly method include: S01. Calculate the adjustment value of the transmission chain of each sub-positioning platform based on the design parameters of the heliostat surface. S02. Adjust each sub-positioning platform according to the adjustment value to form a heliostat assembly platform; S03. Using the upper surface of the sub-positioning platform as the positioning reference, place the reflective surfaces of the heliostat mirrors onto the reference surface of the sub-positioning platform in sequence. S04. Activate the pneumatic positioning device to position each sub-mirror in the horizontal direction; S05. Transport the heliostat support structure to the heliostat assembly platform and position it precisely. S06. Combine the support structure with the assembled heliostat.

7. The method for rapid assembly of a modular heliostat surface according to claim 5, characterized in that, In step S01, the specific calculation steps for the adjustment values ​​of the transmission branches of each sub-positioning platform include: S01-1, Using the center point P of the central sub-positioning platform as the reference point. 00 If a coordinate system is established with point as the origin, then the plane equation of the plane on each sub-positioning platform can be expressed as: a i (X ij -X i0 )+b i (Y ij -Y i0 )+c i (Z ij -Z i0 )=0 i represents the platform sequence number; j represents the sequence number of the corresponding point on the platform. a0 and b0 are always zero, and the middle platform always remains horizontal and does not make any Z-axis direction adjustments; S01-2, Based on the angle between the normals of the central sub-positioning platform and the upper surface of the surrounding sub-positioning platforms. Point P on the horizontal plane of the surrounding sub-positioning platform i0 Coordinates, point P i1 Coordinates, point P i2 Coordinates and point P i3 Coordinates are used to calculate the unit vector n of the surrounding sub-positioning platforms. i (a i b i c i The specific calculation formula is as follows: ； ； ； Among them, point P i0 P is the center point of the i-th platform; P is the sub-positioning platform. i0 The point keeps its coordinates unchanged, Z i0 Always 0; S01-3, Point P i1 Coordinates, point P i2 Coordinates and point P i3 Substituting the coordinates into the plane equation, we obtain point P. i1 Point P i2 and point P i3 Z-axis coordinate value; S01-4. Adjust the displacement value of the transmission chain of each sub-positioning platform according to the Z-axis coordinate value. If the Z-axis coordinate value is positive, increase it; if the Z-axis coordinate value is negative, decrease it.

8. The method for rapid assembly of a modular heliostat surface according to claim 6, characterized in that, Before step S01, the assembly platform is pre-adjusted, and the specific pre-adjustment steps include: S01-11. Determine the center point P of the sub-positioning platform. i0 The location is used to determine the point P corresponding to the transmission branch. i1 Point P i2 and point P i3 Location; S02-12, with point P 00 The height reference is adjusted by adjusting the transmission chain to level the middle sub-positioning platform; S03-13. Using the central platform as a reference, adjust the surrounding sub-positioning platforms to be level by adjusting the transmission chain; S04-14 After the entire assembly platform has been adjusted, reset the rotary encoders on all transmission chains to zero as the adjustment reference.

9. The method for rapid assembly of a modular heliostat surface according to claim 6, characterized in that, In step S06, the specific steps for assembling the support structure with the assembled heliostat include: S01. The support structure descends to a preset position, the mirror holder screw passes through the round hole on the support structure, and the rubber plug on the mirror holder screw seals the lower surface of the round hole. The support structure and the mirror holder screw cooperate to form a cavity with the upper end open and the other five sides closed. S02. Pour potting resin into the cavity to two-thirds of the cavity height; S03. After standing for 20 minutes, the resin will be completely solidified, and the heliostat plane will be connected to the support structure as a whole, maintaining the set surface shape of the heliostat.

10. The method for rapid assembly of a modular heliostat surface according to claim 8, characterized in that, Before the pre-adjustment of the assembly platform, the assembly of the sub-positioning platform is also included. The specific steps for assembling the sub-positioning platform include: S1. Place the fixed support flat on the assembly platform; S2. Install the three transmission chains onto the fixed supports respectively; S3. Install the pneumatic positioning device onto the moving reference platform; S4. Place the movable reference platform flat on the three transmission chains and align the threaded connection holes of the transmission chains and the movable reference platform. S5. Adjust the horizontal position of the moving reference platform and the fixed support until the four sides are aligned; S6. Place the heliostat mirror on the upper surface of the movable reference platform and manually adjust it to the set position; S7. Start the pneumatic positioning device; S8. Using the heliostat mirror as a reference, adjust and tighten the installation position of the pneumatic positioning device; S9. Withdraw the pneumatic positioning device and remove the heliostat plane sub-mirror; S10. Complete the assembly of the sub-positioning platform.

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