Automatic feeding and discharging method for solar heat collecting pipes

Abstract

An automatic feeding and discharging method for solar heat collecting tubes relates to the technical field of automation, and comprises the following steps: uniformly dividing an annular conveying line into N sectors, placing inner and outer layers of heat collecting tubes in each sector, setting a starting position mark point and a grabbing mark point, and detecting the mark points by using a sensor; the mechanical arm grabs the heat collecting pipe according to the detection signal and places the heat collecting pipe on a discharging station; the clamp comprises a connecting base, a sliding rail, a mounting base, a pneumatic telescopic cylinder, a clamping jaw air cylinder and the like, the mounting base can slide along the sliding rail, the pneumatic telescopic cylinder controls the connecting state of the mounting base and the connecting base, and the clamping jaw air cylinder is used for clamping the heat collecting pipe. Free movement and rigid connection of the mounting base are achieved through inflation and deflation of the pneumatic telescopic cylinder, and the stability and reliability of clamping and discharging are guaranteed. According to the automatic feeding and discharging method and the clamp design, the efficiency and reliability of automatic feeding and discharging are improved, and an efficient and stable automatic solution is provided for production of solar heat collecting pipes.

Description

Technical Field

[0001] The invention relates to the field of automation technology, in particular to a method for automatically loading and unloading solar heat collecting tubes. Background Art

[0002] In the production process of solar collector tubes, the loading and unloading of collector tubes on the circular conveyor line is crucial. The traditional manual loading and unloading method has many disadvantages: on the one hand, the manual operation efficiency is low, it is difficult to meet the needs of large-scale production, and the labor intensity is high, which can easily lead to worker fatigue, thus affecting the production progress; on the other hand, the temperature in the production workshop of the collector tube is high and the environment is harsh, which affects the physical and mental health of the operators. Therefore, it is necessary to develop a robot that can automatically load and unload materials; the difficulty lies in that due to factors such as inaccurate precision control, it is easy to cause scratches, bumps and other damages on the surface of the collector tube, which reduces product quality, increases the defective rate, and brings additional economic losses to the enterprise. In addition, in order to meet production needs, the circular conveyor line is always in operation during the loading and unloading process. The existing robot cannot accurately follow, so it is difficult to ensure the accurate position during the arrangement and placement of the collector tube. If it cannot accurately follow, it will directly cause the collector tube to be overstressed and broken. Therefore, how to realize the automation of loading and unloading of solar collector tubes, improve production efficiency, reduce labor costs, and reduce product damage has become an urgent problem for solar collector tube manufacturers. Summary of the invention

[0003] In order to overcome the deficiencies in the background technology, the present invention discloses a method for automatically loading and unloading solar heat collecting tubes.

[0004] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0005] A method for automatically loading and unloading solar heat collecting tubes comprises the following steps:

[0006] S1. Divide the circular transmission line into N sectors. Place inner and outer layers of heat collecting tubes at an angle in each sector. The number of inner and outer layers of heat collecting tubes is equal, and there is a gap between two adjacent heat collecting tubes.

[0007] S2. In each sector, a starting position mark point is set at the starting position of the inner and outer layers of the heat collecting tubes, and a grabbing mark point is set every X heat collecting tubes in the inner and outer layers;

[0008] S3, using two internal and external sensors to detect the start position mark points and grabbing mark points of the inner and outer layers in real time;

[0009] S4. Install a mechanical arm outside the annular conveyor line, and install a clamp for clamping the heat collecting tube at the execution end of the mechanical arm;

[0010] S5, the robotic arm waits at the initial position, waiting for the outer sensor to detect the outer starting position mark point. After the outer sensor is triggered, the robotic arm drives the clamp to grab the outer X heat collecting tubes, place them at the unloading station and reset; wait for the outer sensor to detect the first grabbing mark point of the outer layer. After the outer sensor is triggered, the robotic arm grabs the outer X heat collecting tubes again, places them at the unloading station and resets;

[0011] S6, waiting for the inner layer sensor to detect the inner layer starting position mark point. After the inner layer sensor is triggered, the mechanical arm drives the clamp to grab the inner layer X heat collecting tubes, place them in the unloading station and reset them;

[0012] S7, waiting for the outer layer sensor to detect the next grabbing mark point of the outer layer. After the outer layer sensor is triggered, the robot arm grabs the X outer layer heat collecting tubes again, places them in the unloading station, and then resets;

[0013] S8, waiting for the inner layer sensor to detect the inner layer grabbing mark point. After the inner layer sensor is triggered, the robotic arm drives the clamp to grab X inner layer heat collecting tubes, place them at the unloading station and reset them;

[0014] S9, loop steps S7 to S8 until all the heat collecting tubes in the sector are removed.

[0015] Preferably, both the internal and external sensors in step S3 can be industrial cameras, proximity switches or photoelectric sensors.

[0016] Preferably, the execution end of the robotic arm is equipped with two upper and lower clamps.

[0017] Preferably, the clamp comprises:

[0018] A connecting seat, installed at the execution end of the robot arm;

[0019] Slide rails, a plurality of slide rails are arranged on the connecting seat at intervals;

[0020] A mounting seat, which is slidably matched with the slide rail via a slider;

[0021] The pneumatic telescopic cylinder is arranged between the mounting seat and the connecting seat. The mounting seat is moved to a fixed position by inflation and extension, and the mounting seat and the connecting seat are kept rigidly connected. The mounting seat is placed in a free state capable of sliding along the slide rail by deflation.

[0022] A plurality of gripper cylinders are arranged in an array on a mounting base.

[0023] Preferably, two rows of upper and lower clamping cylinders are arranged on the mounting seat, and the upper and lower rows of clamping cylinders are staggered.

[0024] Preferably, a flexible protective pad is provided inside the clamping jaw of the clamping jaw cylinder.

[0025] Preferably, a contact switch is provided on one side of the clamping jaw cylinder corresponding to between the two clamping jaws.

[0026] Preferably, the mounting seat has a diamond-shaped structure.

[0027] Due to the adoption of the above-mentioned technical solution, the present invention has the following beneficial effects:

[0028] The present invention discloses a method for automatically loading and unloading solar collector tubes, which divides the circular conveyor line into N sectors, and places the inner and outer layers of collector tubes in an inclined manner in each sector, and at the same time reserves intervals, thereby ensuring the uniform distribution and stability of the collector tubes during the transmission process, effectively avoiding damage caused by collisions, and improving the integrity rate of the collector tubes. In the process of automatic loading and unloading, by setting the starting position mark point and the grabbing mark point, an accurate positioning basis is provided for the robot arm, so that the robot arm can accurately grab and place the collector tube, greatly improving the accuracy and reliability of loading and unloading, and ensuring the smooth progress of the subsequent production process.

[0029] The present invention further utilizes two internal and external sensors to detect the marking points in real time, and transmits the position information to the central processor of the control system, thereby realizing precise control of the entire loading and unloading process, enabling the robot arm to be flexibly adjusted according to the actual position of the heat collecting tube, and further improving production efficiency and product quality. In particular, when grabbing the outer heat collecting tube, the method first grabs the outer heat collecting tube twice, and reserves enough space for grabbing the inner heat collecting tube, effectively preventing the inner and outer heat collecting tubes from being damaged by accidental collision during the grabbing process, further reducing the defective rate of the product, and improving the economic benefits of the enterprise.

[0030] The present invention further enables the mounting seat to slide freely left and right along the slide rail through the slider. When clamping the heat collecting tube, the pneumatic telescopic cylinder exhausts air to make the mounting seat in a free state. Even if there is a small distance deviation between the clamping claw of the clamping claw cylinder and the heat collecting tube, it can automatically compensate for the displacement to prevent the clamping claw of the clamping claw cylinder from damaging the heat collecting tube, effectively protect the surface quality of the heat collecting tube, and reduce the defective rate. The free movement of the mounting seat can automatically compensate for the displacement distance of the heat collecting tube without the need for the mechanical arm to move and follow, thereby greatly reducing the control difficulty of the mechanical arm, simplifying the programming and debugging of the control system, and improving the intelligence level and operation efficiency of the system. After the clamping claw cylinder clamps the heat collecting tube and pulls out the annular transmission line, the pneumatic telescopic cylinder is inflated to rigidly connect the mounting seat with the connecting seat. During the blanking process, the entire clamp and the heat collecting tube are in a stable state, which improves safety and reliability. At the same time, the pneumatic telescopic cylinder remains inflated to ensure that the clamping claw cylinder is accurately located at the clamping position, thereby improving the clamping accuracy and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the present invention;

[0032] Figure 2 is a schematic diagram of the three-dimensional structure of the fixture;

[0033] Figure 3 is a schematic diagram of the structure of the fixture;

[0034] Figure 4 is a top view of the fixture;

[0035] Figure 5 It is a schematic diagram of the structure in which two fixtures are connected by a ferry.

[0036] In the figure: 1. Connecting seat; 2. Slide rail; 3. Mounting seat; 4. Sliding block; 5. Pneumatic telescopic cylinder; 6. Gripping claw cylinder; 7. Flexible protective pad. DETAILED DESCRIPTION

[0037] The present invention can be explained in detail through the following embodiments. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention. In the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right", etc. indicating directions or positional relationships, they only correspond to the drawings of the present application for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific direction.

[0038] Embodiment 1, in combination with Figure 1 A method for automatically loading and unloading solar heat collecting tubes comprises the following steps:

[0039] S1. Divide the circular conveyor line into N sectors. In each sector, the inner and outer layers of heat collecting tubes are placed in an inclined manner, and the number of the inner and outer layers of heat collecting tubes is kept equal; the circular conveyor line is an existing device, which rotates and conveys the heat collecting tubes at a speed of 1 cm / s. For example, each sector can accommodate 48 heat collecting tubes, 24 in the inner layer and 24 in the outer layer. This layout design is to ensure that the heat collecting tubes can be evenly distributed during the transmission process. At the same time, a certain interval is reserved between two adjacent heat collecting tubes. The setting of this interval can prevent collisions between the heat collecting tubes during the transmission process, and is also conducive to automatic loading and unloading operations.

[0040] S2. In each sector, corresponding to the starting position of the inner and outer layers of the heat collecting tubes, a starting position mark point is set, and a grabbing mark point is set at every X heat collecting tubes in the inner and outer layers. Taking 48 heat collecting tubes in each sector as an example, if 6 tubes are grabbed each time, a grabbing mark point is set for every 6 heat collecting tubes, and a total of 3 grabbing mark points are set. These marking points play a vital role in the entire automatic loading and unloading process. They are the key basis for the recognition and positioning of the robot arm. Through these marking points, the robot arm can accurately determine the position of each grab, ensure the accuracy of the grabbing action, and thus improve the efficiency and reliability of the entire loading and unloading process.

[0041] S3. Through two internal and external sensors, the starting position mark points and grabbing mark points of the inner and outer layers are respectively detected in real time. These two sensors are key components of the entire system. They can accurately capture the position information of the mark points and quickly transmit this information to the central processor of the control system. According to actual needs, the sensor can be an industrial camera, a proximity switch or a photoelectric sensor, and when installing the sensor and the starting position mark point and the grabbing mark point, ensure that the sensor can be triggered. An industrial camera is preferred. After being triggered, the industrial camera can take a picture of the corresponding position and send it back to the central processor of the control system to calculate the deformation deviation of the rack where the collector tubes are placed on the ring conveyor line. The central processor controls the automatic compensation of the robotic arm according to the deviation value to further improve the accuracy of the grabbing action.

[0042] S4. Install a robotic arm on the outside of the circular conveyor line, and install a clamp specifically used for clamping the heat collecting tube at the execution end of the robotic arm. The robotic arm can move flexibly in three-dimensional space and accurately reach the predetermined grasping position. Since the heat collecting tube is inserted obliquely on the corresponding bracket of the circular conveyor line, during the clamping process, the robotic arm can first clamp the heat collecting tube, and then drive the heat collecting tube to move up along its inclined direction, and then take out the heat collecting tube after the bottom of the heat collecting tube is separated from the circular conveyor line. It should be noted that during the clamping process of the robotic arm, the circular conveyor line is still in a rotating moving transmission state of 1 cm / s, so the robotic arm or clamp needs to have the function of following the movement of the circular conveyor line.

[0043] S5. The robotic arm is initially in standby state at the initial position, waiting for the outer sensor to detect the outer starting position mark point. Taking 48 collector tubes in each sector as an example, when the outer sensor is triggered, the robotic arm responds quickly, driving the clamp to accurately grasp the 6 collector tubes on the outer layer, and then smoothly place them in the unloading station, and then the robotic arm resets. This process is precisely controlled by the control system to ensure that the movement of the robotic arm is accurate and the grasping and placement movements are smooth and coherent. Subsequently, wait for the outer sensor to detect the first grasping mark point of the outer layer. After the outer sensor is triggered, the robotic arm repeats the above action again, clamps the 6 collector tubes on the outer layer again, and resets after placing them in the unloading station.

[0044] S6, wait for the inner layer sensor to detect the inner layer starting position mark point. After the inner layer sensor is triggered, the robot arm drives the clamp to grab the 6 inner layer heat collecting tubes, place them in the unloading station and reset. When grabbing the inner layer heat collecting tubes, the action of the robot arm is similar to that of grabbing the outer layer heat collecting tubes, but the action of the robot arm is adjusted accordingly according to the position of the inner layer heat collecting tubes to ensure that the grabbing task can be completed accurately.

[0045] S7, wait for the outer sensor to detect the next grab mark point of the outer layer. After the outer sensor is triggered, the robot arm grabs the 6 outer collector tubes again, places them in the unloading station and resets. The reason why the outer collector tubes are grabbed twice in each sector is to reserve enough grabbing space for the inner collector tubes to prevent the inner and outer collector tubes from accidentally colliding and being damaged during the grabbing process.

[0046] S8, waiting for the inner layer sensor to detect the inner layer grabbing mark point. After the inner layer sensor is triggered, the robotic arm drives the clamp to grab the 6 inner layer heat collecting tubes, place them at the unloading station and reset them.

[0047] S9, looping through steps S7 to S8 until all the heat collecting tubes in the sector are removed. Through the above steps, the method can realize automatic loading and unloading of solar heat collecting tubes, which not only improves production efficiency and reduces manual intervention, but also reduces the errors and risks that may be caused by manual operation. It has high practicality and reliability, and provides an efficient and stable automation solution for the production and manufacturing of solar heat collecting tubes.

[0048] It should be noted that this embodiment introduces a method for unloading the heat collecting tubes, and when loading the tubes, it is only necessary to follow the reverse steps.

[0049] Embodiment 2, in combination with Figures 1 to 5 A method for automatically loading and unloading solar heat collecting tubes is different from Example 1 in that, based on Example 1, in order to ensure the reliability of the clamping of the mechanical arm and prevent the heat collecting tube from breaking due to excessive local clamping force, a transition plate is provided at the execution end of the mechanical arm, and two upper and lower clamps are installed on the transition plate, as shown in the attached Figure 5 As shown; the two clamps cooperate with each other to clamp the heat collecting tube.

[0050] As attached Figures 2 to 5 As shown, the clamp comprises a connecting seat 1, a slide rail 2 and a mounting seat 3; the connecting seat 1 is installed at the execution end of the robot arm, and as a key component for connecting the entire clamp with the robot arm, its stability and installation accuracy directly affect the overall performance of the clamp. A plurality of slide rails 2 are arranged at intervals on the connecting seat 1, preferably two slide rails 2 are arranged at intervals. Such a design is not only convenient for installation, but also can effectively reduce the use cost while ensuring the strength of the clamp, thereby improving the economic efficiency of the clamp.

[0051] The mounting seat 3 is slidably matched with the slide rail 2 through the slider 4, that is, the mounting seat 3 can slide freely left and right along the slide rail 2 relative to the connecting seat 1. This sliding match design gives the mounting seat 3 flexibility in the lateral direction, and the position can be adjusted according to the actual working conditions. A plurality of clamping cylinders 6 are arranged in an array on the mounting seat 3. Through a reasonable layout, it is ensured that the clamping cylinders 6 can be evenly stressed during operation, thereby improving the stability and reliability of the clamping.

[0052] A pneumatic telescopic cylinder 5 is installed between the mounting seat 3 and the connecting seat 1, that is, the pneumatic telescopic cylinder 5 can be installed on the mounting seat 3, and the extended end of its piston rod is correspondingly fastened and connected to the connecting seat 1 through a bracket; or the pneumatic telescopic cylinder 5 can be installed on the connecting seat 1, and the extended end of its piston rod is correspondingly fastened and connected to the mounting seat 3 through a bracket. As a key driving component of the clamp, the pneumatic telescopic cylinder 5 is used to move the mounting seat 3 to a fixed position by inflating and stretching, and to keep the mounting seat 3 and the connecting seat 1 rigidly connected, so as to ensure that the entire clamp and the heat collecting tube are in a stable state during the material removal process; and to make the mounting seat 3 in a free state that can slide along the slide rail 2 by deflation, so that automatic displacement compensation can be performed according to the position of the heat collecting tube during the clamping process.

[0053] In this way, when clamping the heat collecting tube, the clamp is first sent to the clamping position by the mechanical arm, and then the pneumatic telescopic cylinder 5 is exhausted, so that the mounting seat 3 is in a free state capable of sliding along the slide rail 2; then the mechanical arm moves until the heat collecting tube enters between the two jaws of the clamp cylinder 6; in this process, since the mounting seat 3 is in a free state, even if the jaws of the clamp cylinder 6 have a small distance deviation relative to the heat collecting tube, it can automatically compensate for the displacement when the jaws of the clamp cylinder 6 touch the heat collecting tube, thereby preventing the jaws of the clamp cylinder 6 from damaging the heat collecting tube, effectively protecting the surface quality of the heat collecting tube, reducing the defective rate, and improving production efficiency.

[0054] It is worth noting that during the clamping process, the annular conveyor line is still in a rotating moving transmission state of 1 cm / s, and the free movement of the mounting seat 3 can automatically compensate for the displacement distance of the heat collecting tube without the need for the mechanical arm to move and follow, thereby greatly reducing the control difficulty of the mechanical arm, simplifying the programming and debugging process of the control system, and improving the intelligence level and operation efficiency of the entire system. After the clamping claw cylinder 6 clamps the heat collecting tube and pulls the heat collecting tube upward out of the annular conveyor line, the pneumatic telescopic cylinder 5 is inflated, so that the mounting seat 3 and the connecting seat 1 are in a rigid connection state, and then the mechanical arm is controlled to move and place the heat collecting tube in the unloading station, which can ensure that the entire clamp and the heat collecting tube are in a stable state during the unloading action, thereby improving safety and reliability; at the same time, before the next clamping action, the pneumatic telescopic cylinder 5 remains in an inflated state, so that the clamping claw cylinder 6 can be accurately located at the clamping position, improving the accuracy and work efficiency of clamping.

[0055] It should be noted that before the pneumatic telescopic cylinder 5 is exhausted, the two ends of the mounting seat 3 need to be at the same horizontal height to prevent the mounting seat 3 from automatically sliding to the lower side under the action of its own gravity after the pneumatic telescopic cylinder 5 is exhausted, resulting in a large position deviation between the clamping claw cylinder 6 and the corresponding heat collecting tube, affecting the clamping accuracy and work efficiency.

[0056] Embodiment 3, in combination with Figures 2 to 5 A method for automatically loading and unloading solar heat collecting tubes, based on the embodiment 1 or 2, the mounting seat 3 is provided with two rows of upper and lower clamping cylinders 6, and the upper and lower rows of clamping cylinders 6 are arranged in a staggered manner. It can effectively cope with the dense arrangement of heat collecting tubes and avoid the interference between two adjacent clamping cylinders 6. A flexible protective pad 7 is provided on the inner side of the clamping claw of the clamping claw cylinder 6. It can effectively protect the heat collecting tube and prevent the clamping claw of the clamping claw cylinder 6 from pinching or scratching the heat collecting tube.

[0057] Furthermore, a contact switch is provided on one side of the clamping claw cylinder 6 corresponding to the two clamping claws, which is not shown in the figure. When clamping the heat collecting tube, when the heat collecting tube is in a suitable position between the two clamping claws, the heat collecting tube can trigger the contact switch, thereby sending a clamping signal to make the clamping claw cylinder 6 move, and the two clamping claws clamp the heat collecting tube, which can prevent the clamping claw cylinder 6 from being too far away from the heat collecting tube and unable to clamp effectively, or from being too close to the heat collecting tube and hitting the heat collecting tube.

[0058] Furthermore, the mounting seat 3 is in a diamond-shaped structure, which can effectively reduce the weight of the mounting seat 3 and remove the ineffective parts of the mounting seat 3, thereby increasing the safe movement range of the mounting seat 3.

[0059] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and it is intended that all changes that fall within the meaning and scope of equivalent elements are included in the present invention.

Claims

1. A method for automatically loading and unloading solar collector tubes, which cooperates with a ring conveyor line to achieve automatic loading and unloading; its characteristics are: The following steps are involved: S1. Divide the circular transmission line into N sectors. Place inner and outer layers of heat collecting tubes at an angle in each sector. The number of inner and outer layers of heat collecting tubes is equal, and there is a gap between two adjacent heat collecting tubes. S2. In each sector, a starting position mark point is set at the starting position of the inner and outer layers of the heat collecting tubes, and a grabbing mark point is set every X heat collecting tubes in the inner and outer layers; S3, using two internal and external sensors to detect the starting position mark points and grabbing mark points of the inner and outer layers in real time; S4. Install a mechanical arm outside the annular conveyor line, and install a clamp for clamping the heat collecting tube at the execution end of the mechanical arm; S5, the robotic arm waits at the initial position, waiting for the outer sensor to detect the outer starting position mark point. After the outer sensor is triggered, the robotic arm drives the clamp to grab the outer X heat collecting tubes, place them at the unloading station and reset; wait for the outer sensor to detect the first grabbing mark point of the outer layer. After the outer sensor is triggered, the robotic arm grabs the outer X heat collecting tubes again, places them at the unloading station and resets; S6, waiting for the inner layer sensor to detect the inner layer starting position mark point. After the inner layer sensor is triggered, the mechanical arm drives the clamp to grab the inner layer X heat collecting tubes, place them in the unloading station and reset them; S7, waiting for the outer layer sensor to detect the next grabbing mark point of the outer layer. After the outer layer sensor is triggered, the robot arm grabs the X outer layer heat collecting tubes again, places them in the unloading station, and then resets; S8, waiting for the inner layer sensor to detect the inner layer grabbing mark point. After the inner layer sensor is triggered, the robotic arm drives the clamp to grab X inner layer heat collecting tubes, place them at the unloading station and reset them; S9, loop steps S7 to S8 until all the heat collecting tubes in the sector are removed.

2. The method for automatically loading and unloading solar heat collecting tubes as claimed in claim 1, characterized in that: The inner and outer sensors in step S3 can both be industrial cameras, proximity switches or photoelectric sensors.

3. The method for automatically loading and unloading solar heat collecting tubes as claimed in claim 1, characterized in that: The execution end of the mechanical arm is equipped with two upper and lower clamps.

4. The method for automatically loading and unloading solar heat collecting tubes as claimed in any one of claims 1 to 3, characterized in that: The fixture comprises: A connecting base (1) is mounted on the execution end of the robot arm; Slide rails (2), wherein a plurality of slide rails (2) are arranged at intervals on the connecting seat (1); The mounting seat (3) is slidably engaged with the slide rail (2) via a slider (4); The pneumatic telescopic cylinder (5) is arranged between the mounting seat (3) and the connecting seat (1), and is configured to move the mounting seat (3) to a fixed position by being inflated and extended, and to maintain a rigid connection between the mounting seat (3) and the connecting seat (1); and to be in a free state capable of sliding along the slide rail (2) by being deflated. A clamping claw cylinder (6), wherein a plurality of clamping claw cylinders (6) are arranged in an array on the mounting seat (3).

5. The method for automatically loading and unloading solar heat collecting tubes as claimed in claim 4, characterized in that: Two upper and lower rows of clamping jaw cylinders (6) are arranged on the mounting seat (3), and the upper and lower rows of clamping jaw cylinders (6) are staggered.

6. The method for automatically loading and unloading solar heat collecting tubes as claimed in claim 4, characterized in that: A flexible protective pad (7) is provided on the inner side of the clamping jaw of the clamping jaw cylinder (6).

7. The method for automatically loading and unloading solar heat collecting tubes as claimed in claim 4, characterized in that: A contact switch is provided on one side of the clamping jaw cylinder (6) corresponding to between the two clamping jaws.

8. The method for automatically loading and unloading solar heat collecting tubes as claimed in claim 4, characterized in that: The mounting seat (3) has a diamond-shaped structure.

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