Mirror surface processing mechanism, heliostat mounting platform and heliostat mounting method

Abstract

The invention provides a mirror surface treatment mechanism which comprises truss stand columns, and the adjacent truss stand columns are arranged in parallel. The gripper frame is installed on the adjacent truss stand columns and can move in the first direction. The gripper is installed on the gripper frame and can move in the vertical direction; the first mirror surface placing platform and the second mirror surface placing platform are located in the area between the adjacent truss stand columns and distributed in the first direction, and the first mirror surface placing platform and the second mirror surface placing platform are located below the suction cup tongs; wherein the first direction is perpendicular to the vertical direction. The invention further provides a heliostat mounting platform and a heliostat mounting method, the truss manipulator sliding table composed of the truss stand column, the gripper frame and the gripper is matched with the placement platform composed of the first mirror surface placement platform and the second mirror surface placement platform, the platform is provided for reflector treatment, the automation degree of the treatment platform is improved, and the heliostat mounting efficiency is improved. And the assembling efficiency of the heliostat is improved.

Description

Technical Field

[0001] This application belongs to the field of solar thermal power generation, and specifically relates to a mirror surface treatment mechanism, a heliostat installation platform, and a heliostat installation method. Background Art

[0002] With the increasing demand for renewable energy, the application prospect of heliostat technology in the field of solar power generation is broad. The technological progress of the heliostat support installation platform will directly affect the efficiency and economy of the heliostat system. The assembly accuracy of the heliostat support is a key technology for tower-type solar power generation. The installation method, combination method, installation accuracy of the heliostat frame, and the installation accuracy of the glass determine the power generation efficiency of the tower-type power station. Among them, through continuous technological innovation and optimized design of the installation problem of the heliostat frame, the heliostat frame installation platform will provide a solid foundation for realizing more efficient solar energy utilization.

[0003] In the related art, the assembly of the heliostat frame and the installation of the mirror surface are carried out through an artificially built installation platform. After the main beam welded part is leveled by manually controlling the instrument and then fixed manually on both sides, situations such as unbalanced force application, inability to fix, and the appearance of unilateral pulling or pushing forces will occur, resulting in problems such as deformation of the installed frame and low accuracy. Moreover, the accuracy of the frame directly determines the surface accuracy of the heliostat mirror. And being completed manually leads to problems such as low automation degree and low production efficiency of the heliostat general assembly production line. Summary of the Invention

[0004] This application aims to solve at least one of the technical problems in the related art to some extent. For this purpose, the main technical solutions adopted in this application include:

[0005] In a first aspect, this application provides a mirror surface treatment mechanism, including

[0006] Truss columns, which are arranged in parallel between adjacent truss columns;

[0007] A gripper frame, which is installed between adjacent truss columns and can move along a first direction;

[0008] Grippers, which are installed on the gripper frame and can move along the vertical direction; and

[0009] A first mirror placement platform and a second mirror placement platform, which are located in the area between adjacent truss columns and are distributed along the first direction, and the first mirror placement platform and the second mirror placement platform are located below the suction cup gripper;

[0010] Wherein, the first direction and the vertical direction are perpendicular to each other.

[0011] The mirror processing mechanism provided by the present application, through the truss manipulator slide table constructed by the truss columns, the gripper frame and the gripper, and in cooperation with the placement platform constructed by the first mirror placement platform and the second mirror placement platform, provides a processing platform for the reflector of the heliostat, improves the automation degree of the reflector processing platform, and further improves the assembly efficiency of the heliostat.

[0012] In a second aspect, the present application provides a heliostat installation platform, including a mirror processing mechanism and a mirror frame adjustment mechanism. The mirror processing mechanism and the mirror frame adjustment mechanism are distributed along a first direction. The mirror processing mechanism includes:

[0013] Truss columns, which are arranged in parallel between adjacent truss columns;

[0014] A gripper frame, which is installed on adjacent truss columns and can move along the first direction;

[0015] Grippers, which are installed on the gripper frame and can move along the vertical direction; and

[0016] A first mirror placement platform and a second mirror placement platform. The first mirror placement platform and the second mirror placement platform are located in the area between adjacent truss columns and are distributed along the first direction. The first mirror placement platform and the second mirror placement platform are located below the suction cup gripper;

[0017] Wherein, the first direction and the vertical direction are perpendicular to each other.

[0018] The heliostat installation platform provided by the present application also has the same technical effects as above because it adopts the above mirror processing mechanism.

[0019] In a third aspect, the present application provides a heliostat installation method, including

[0020] Providing a reflector and a heliostat bracket, placing the reflector face down on the first mirror placement platform, and bonding a bonding sheet to the back of the reflector;

[0021] Flipping the reflector with the bonding sheet and placing it face up on the second mirror placement platform;

[0022] The gripper grabs the reflector on the second mirror placement platform and transfers it to the mirror frame adjustment mechanism;

[0023] The mirror frame adjustment mechanism installs the reflector with the bonding sheet on the heliostat bracket.

[0024] The heliostat installation method provided by this application constructs a placement platform through the first mirror placement platform and the second mirror placement platform, providing a processing platform for the bonding of the bonding sheet on the back of the reflector and for placing it face up. In addition, the truss manipulator slide constructed by the truss column, the gripper frame, and the gripper is used to grab the reflector, improving the automation level of reflector processing and facilitating the improvement of the assembly efficiency of the heliostat. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 Structural diagram of the heliostat installation platform provided by the embodiment of this application;

[0027] Figure 2 Structural diagram of the mirror installation mechanism provided by the embodiment of this application;

[0028] Figure 3 Connection structure diagram of the gripper frame and the gripper provided by the embodiment of this application;

[0029] Figure 4 Partial structural diagram of the heliostat installation platform provided by the embodiment of this application;

[0030] Figure 5 Top view of the mirror frame adjustment mechanism provided by the embodiment of this application;

[0031] Figure 6 Structural diagram of the mirror frame adjustment mechanism provided by the embodiment of this application;

[0032] Figure 7 Structural diagram of the gripper mechanism provided by the embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In order to better understand the technical solutions of this application, the following describes the embodiments of this application in detail with reference to the drawings.

[0034] It should be clear that the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of this application.

[0035] With the increasing demand for renewable energy, the application prospect of heliostat technology in the field of solar power generation is broad. The technological progress of the heliostat support installation platform will directly affect the efficiency and economy of the heliostat system. The assembly accuracy of the heliostat support is a key technology for tower solar power generation. The installation method, combination method, installation accuracy of the heliostat frame, and glass installation accuracy determine the power generation efficiency of the tower power station. Among them, through continuous technological innovation and optimized design of the installation problem of the heliostat frame, the heliostat frame installation platform will provide a solid foundation for realizing more efficient solar energy utilization.

[0036] In related technologies, an artificially constructed installation platform is adopted. A platform suitable for the installation method is built through the shape and structure of the heliostat support. First, the main beam welded part is placed on three Z-direction adjustable benchmarks, and then the holes on the 8 secondary beam supports symmetrically distributed in the X direction of the main beam welded part are adjusted by instruments. Then, the secondary beams are built on the secondary beam supports. The holes in the middle of the secondary beams and the holes of the secondary beam supports are connected by pins. The holes on the long and short sides of the secondary beams and the holes of the adjusting support lifting device are connected by pins. Then, long and short diagonal braces are respectively placed at the long and short sides of the secondary beams. One end of the diagonal brace is connected to the secondary beam by a pin, and the other end is firmly connected to the diagonal brace connecting piece on the main beam by a bolt. Further, the secondary diagonal braces are installed in the same way. There are 8 pairs of secondary beams, arranged in 4 pairs, symmetrically distributed in the X direction of the main beam, and the Z-direction dimensions are equal in height in pairs, and the Z-direction dimensions increase from the middle to both sides. Due to the use of manual control and assembly methods in related technologies, situations such as unbalanced force application, inability to fix, and the appearance of unilateral pulling or pushing forces may occur, resulting in problems such as deformation of the installed frame and low accuracy, and the accuracy of the frame directly determines the surface shape accuracy of the heliostat. Moreover, in the general assembly production line of the heliostat in related technologies, most of the support lashing is completed manually, resulting in problems such as low automation degree and low production efficiency of the heliostat general assembly production line.

[0037] Therefore, please refer to Figures 1 to 7 , this embodiment proposes a heliostat installation platform, including a mirror surface processing mechanism 100 and a mirror frame adjustment mechanism 200. The mirror surface processing mechanism 100 can automatically handle the mirror surface, and the mirror frame adjustment mechanism 200 can support and adjust the heliostat support during the assembly process so that the assembly of the heliostat support meets the accuracy requirements. By adopting an automated heliostat support assembly method and mirror surface installation, compared with the manual adjustment and installation method in related technologies, the installation efficiency of the heliostat is improved, and human intervention is reduced, thereby reducing the labor cost.

[0038] Please refer to again Figure 2 , the mirror surface processing mechanism 100 includes:

[0039] Truss columns 11, which are arranged in parallel between adjacent truss columns 11;

[0040] The gripper frame 12 is installed on the adjacent truss columns 11 and can move relative to the truss columns 11 along the first direction (X-X);

[0041] The gripper 13 is installed on the gripper frame 12 and can move relative to the gripper frame 12 along the vertical direction (Z-Z); and the first mirror placement platform 14 and the second mirror placement platform 15,

[0042] The first mirror placement platform 14 and the second mirror placement platform 15 are located in the area between the adjacent truss columns 11 and are distributed along the first direction (X-X), and the first mirror placement platform 14 and the second mirror placement platform 15 are located below the suction cup gripper 13;

[0043] Wherein, the first direction (X-X) and the vertical direction (Z-Z) are perpendicular to each other.

[0044] In this embodiment, a truss manipulator slide is constructed by the truss columns 11, the gripper frame 12 and the gripper 13 to provide a support platform for the grasping and moving of the reflector. The first mirror placement platform 14 and the second mirror placement platform 15 distributed along the first direction (X-X) provide a placement platform for the bonding sheet installation of the reflector, which is convenient for bonding the bonding sheet to the back of the reflector. At the same time, the purpose of setting two mirror placement platforms is to place the reflector with the bonding sheet face up on the other mirror placement platform after turning it over, which is convenient for subsequent hoisting onto the heliostat support B of the mirror frame adjustment mechanism 200. At the same time, the vacated mirror placement platform can continue the bonding sheet installation process to improve the assembly efficiency of the heliostat.

[0045] This embodiment also provides a method for installing a heliostat, including

[0046] Providing a reflector and a heliostat support B, placing the reflector face down on the first mirror placement platform 14, and bonding the bonding sheet to the back of the reflector;

[0047] Flipping the reflector with the bonded bonding sheet and placing it face up on the second mirror placement platform 15;

[0048] The gripper 13 grabs the reflector on the second mirror placement platform 15 and transfers it to the mirror frame adjustment mechanism 200;

[0049] The mirror frame adjustment mechanism 200 places the reflector with the bonding sheet on the heliostat support B.

[0050] Specifically, please refer to again Figure 2, the gripper frame 12 includes gripper sliders 120 which are oppositely arranged and respectively installed on adjacent truss columns 11. The gripper slider 120 includes a guide post 121 and a first-direction driving device 122. The first-direction driving device 122 includes a fixed part 122a and a moving part 122b. The fixed part 122a is installed on the truss column 11 and extends along the first direction (X-X). The guide post 121 is connected and fixed to the moving part 122b. The guide post 121 extends along the vertical direction (Z-Z). The moving part 122b can move along the fixed part 122a in the first direction (X-X). In this embodiment, guide posts 121 and first-direction driving devices 122 are provided on adjacent truss columns 11. Both ends of the gripper 13 along the second direction (Y-Y) are installed and cooperate with their respective corresponding guide posts 121. The fixed part 122a and the moving part 122b can adopt the meshing mode of a gear and a rack. For example, the rack is used as the fixed part 122a, installed and fixed on the truss column 11, and the gear is used as the moving part 122b, installed on the guide post 121. And the moving part 122b further includes a driving motor which is connected to the gear. During the working process, the driving motor drives the gear to mesh with the rack, thereby driving the guide post 121 to move relative to the truss column 11 along the first direction (X-X). Among them, the first direction (X-X), the second direction (Y-Y) and the vertical direction (Z-Z) are perpendicular to each other in pairs.

[0051] Further, please refer to again Figure 3 , the gripper 13 includes a connecting rod 131, a vertical-direction driving device 132, a suction cup mounting bracket 133 and a suction cup 134. Both ends of the connecting rod 131 are respectively connected to the corresponding guide posts 121 through a vertical-direction driving device 132. The suction cup mounting bracket 133 is installed on the connecting rod 131. The suction cup 134 is installed at the bottom of the suction cup mounting bracket 133. The connecting rod 131 can move along the guide post 121 in the vertical direction (Z-Z) under the action of the vertical-direction driving device 132. In this embodiment, the vertical-direction driving device 132 can also adopt the mode of a driving motor cooperating with the meshing transmission of a gear and a rack to perform the lifting operation of the connecting rod 131. Of course, it can also adopt the mode of a driving motor cooperating with a lead screw and nut transmission structure to perform the lifting operation of the connecting rod 131. Since there are many implementable ways, they are not listed one by one here.

[0052] In addition, the mirror surface treatment mechanism 100 further includes a vacuum generator (not shown in the figure), and the vacuum generator is connected to the suction cup 134. When a transfer action of the reflector is required, the vacuum generator is started, the air in the suction cup is pumped out, a vacuum state is formed, and the external atmospheric pressure presses the suction cup tightly against the surface of the reflector, thereby generating an adsorption force, and cooperating with the actions of the vertical direction driving device 132 and the first direction driving device 122, the grasping and transporting actions of the reflector are realized. In this embodiment, the reflector is transported by a mechanical automation assembly and installation platform, which reduces human intervention, lowers the labor cost, and through the automatic adjustment of the installation platform, the assembly efficiency of the heliostat can be greatly improved.

[0053] Furthermore, in this embodiment, the mirror surface treatment mechanism 100 further includes an adhesive sheet installation device (not shown in the figure), and the adhesive sheet installation device is used to bond the adhesive sheet to the back of the heliostat lens located on the first mirror placement platform 14. The adhesive sheet installation device can be arranged on the gripper 13. Specifically, the gripper 13 is provided with a plurality of holes for placing the adhesive sheet. During operation, the adhesive sheet is placed in the holes of the gripper 13. After the reflector is placed on the first mirror placement platform 14 with its back facing up and fixed, the gripper 13 can stick the adhesive sheet to the back of the reflector at one time according to the pre-designed layout. Of course, the adhesive sheet installation device can also be independently arranged relative to the gripper 13.

[0054] In this embodiment, both the first mirror placement platform 14 and the second mirror placement platform 15 have a conveying function, and when the reflector is placed thereon, the reflector can be adjusted to a suitable position through the conveying function, reducing manual handling. The conveying can adopt a belt conveying mechanism. In addition, the first mirror placement platform 14 has a flipping function and can flip the heliostat lens located thereon and place it on the second mirror placement platform 15. For example, the first mirror placement platform 14 has a suction cup connected to the vacuum generator. Before flipping, the suction cup is attached to the front surface of the reflector. When the vacuum generator is started, the suction cup tightly sucks on the front surface of the reflector. After the first mirror placement platform 14 is flipped by 180°, the reflector is placed on the second mirror placement platform 15 with its front surface facing up. Then the vacuum generator stops pumping vacuum, and after the suction cup is separated from the reflector, it resets, so as to realize placing the reflector with the adhesive sheet bonded thereon with its front surface (reflective surface) facing up on the second mirror placement platform 15.

[0055] In this embodiment, in addition to the above-described method of using the first mirror placement platform 14 with a flipping function to flip the reflector, the following method can also be adopted: The mirror processing mechanism 100 further includes a flipping device (not shown in the figure). The flipping device is independent of the first mirror placement platform 14 and is used to flip the heliostat mirror on the first mirror placement platform 14 and then place it on the second mirror placement platform 15. Since there are many replaceable methods, they will not be listed one by one here.

[0056] In this embodiment, the gripper 13 can grab the reflector located on the second mirror placement platform 15 and enter the next process, such as installing the reflector on the heliostat bracket or transposing the reflector to another place to wait for the glue of the bonding sheet to completely solidify. At the same time, it can also vacate the second mirror placement platform 15 for the processing process of the next reflector, which helps to improve the assembly efficiency of the entire heliostat.

[0057] Please refer to again Figure 1 , in this embodiment, the mirror processing mechanism 100 and the mirror frame adjustment mechanism 200 are distributed along the first direction (X-X), wherein the mirror frame adjustment mechanism 200 is used to support and adjust the heliostat bracket B.

[0058] In some embodiments, the installation of the reflector processed by the mirror processing mechanism 100 on the heliostat bracket B located in the mirror frame adjustment mechanism 200 can be completed by the gripper 13 of the mirror processing mechanism 100. In other words, the movable range of the gripper 13 covers the mirror frame adjustment mechanism 200. After the gripper 13 grabs the processed reflector (already bonded with a bonding sheet), it moves in the vertical direction (Z-Z) and the first direction (X-X), and then places the reflector with the bonded bonding sheet on the heliostat bracket B located in the mirror frame adjustment mechanism 200, and then proceeds to the next process (fixing of the reflector). In this embodiment, the gripper 13 can realize the grasping of the processed reflector and the placement of the processed reflector on the heliostat bracket B of the mirror frame adjustment mechanism 200.

[0059] In other embodiments, the heliostat mounting platform further includes a gripper mechanism 400, the gripper mechanism 400 being located above the mirror frame adjustment mechanism 200, and the gripper mechanism 400 being used to grip the reflector processed by the mirror processing mechanism 100 and to install it on the heliostat bracket B located on the mirror frame adjustment mechanism 200. In other words, the gripper 13 in the above embodiment is used in the mirror processing mechanism 100 to transfer the reflector with the adhesive sheet installed, and the gripper mechanism 400 is matched with the mirror frame adjustment mechanism 200, and is used to install the reflector with the adhesive sheet bonded thereto on the heliostat bracket B located on the mirror frame adjustment mechanism 200. In this embodiment, the gripper 13 and the gripper mechanism 400 can work together to avoid the waiting time of the mirror processing mechanism 100 and the mirror frame adjustment mechanism 200, which helps to improve the efficiency of mirror pretreatment and mirror assembly, and thus improve the overall assembly efficiency of the heliostat. In addition, please refer to Figure 1 , Figure 2 and Figure 4 In this embodiment, the heliostat installation platform also includes a transfer placement platform 300.

[0060] Specifically, the transfer placement platform 300 is located between the mirror surface processing mechanism 100 and the mirror frame adjustment mechanism 200, the first mirror surface placement platform 14, the second mirror surface placement platform 15 and the transfer placement platform 300 are distributed along the first direction (XX), and the second mirror surface placement platform 15 is located between the first mirror surface placement platform 14 and the transfer placement platform 300. By setting the transfer placement platform 300, after the reflector is set and turned over by the adhesive sheet of the mirror surface processing mechanism 100, the reflector can be transferred to the transfer placement platform 300 with the front side facing up, waiting for the glue of the adhesive sheet to completely solidify, and will not occupy the second mirror placement platform 15, so that the mirror surface processing mechanism 100 continues to process the next reflector, and at the same time, the reflector with the glue solidified on the transfer placement platform 300 can be grabbed by the gripper mechanism 400 and placed on the heliostat bracket B of the mirror frame adjustment mechanism 200 for assembly.

[0061] Please refer again Figure 1 , Figures 4 to 7 In this embodiment, the frame adjustment mechanism 200 includes

[0062] A main beam adjustment part 21 is used to support and adjust the main beam B1 of the heliostat support B;

[0063] Auxiliary beam adjustment parts 22 are arranged in double rows and are disposed on both sides of the main beam adjustment part 21, and the auxiliary beam adjustment parts 22 are used to support and adjust the auxiliary beam B2 of the heliostat bracket B; and

[0064] The hole position detection device 23 includes a plurality of first hole position detection devices 231 and a plurality of second hole position detection devices 232. Among them, the first hole position detection device 231 is arranged on the main beam adjustment part 21, and the first hole position detection device 231 can detect the dimensional position of the secondary beam connection hole H1 of the secondary beam support B3 of the heliostat support B in the vertical direction (Z-Z); the second hole position detection device 232 is arranged on the secondary beam adjustment part 22 and can be adjusted to be in a straight line horizontal state with the corresponding secondary beam connection hole H1.

[0065] In this embodiment, the first hole position detection device 231 is arranged on the main beam adjustment part 21, and the second hole position detection device 232 is arranged on the secondary beam adjustment part 22. The dimensional position of the secondary beam connection hole H1 and the target dimensional position of the end hole H2 are detected through the hole position detection device 23. The dimensional position in the vertical direction (Z-Z) is adjusted through the secondary beam adjustment part 22, and the target Z-axis dimensional hole of the secondary beam is adjusted through the secondary beam adjustment part 22 to ensure the overall structural accuracy of the heliostat support B. Then, the installation of the reflector is carried out, which helps to improve the surface accuracy of the heliostat, and further improves the power generation efficiency of the solar tower power station. In this embodiment, the hole position detection device 23 is used for automatic detection and combined with the adjustment part for positioning, which solves the problems of poor accuracy, time-consuming and laborious caused by manual adjustment, greatly improves the positioning accuracy, reduces errors and lowers the labor cost.

[0066] Please refer to again Figure 5 and Figure 6 In this embodiment, the main beam adjustment part 21 includes a plurality of first supports 211 and a plurality of second supports 212. Each first support 211 is provided with one first hole position detection device 231, and the plurality of first hole position detection devices 231 are arranged in a straight line and distributed along the first direction (X-X); the secondary beam adjustment part 22 includes a plurality of secondary beam adjustment supports 221, and the plurality of secondary beam adjustment supports 221 are divided into two rows and are respectively arranged on both sides of the main beam adjustment part 21. Each secondary beam adjustment support 221 is provided with one second hole position detection device 232. The two relatively corresponding secondary beam adjustment supports 221 in the second direction (Y-Y) are used to adjust and support the same secondary beam B2 of the heliostat support B; among them, the first direction (X-X), the second direction (Y-Y) and the vertical direction (Z-Z) are perpendicular to each other in pairs.

[0067] In this embodiment, the first support 211 is provided with a first hole position detection device 231 for detecting the dimension position of the secondary beam connection hole H1 on the heliostat support B in the Z-axis direction of the secondary beam support B3 on the main beam. Therefore, the first hole position detection device 231 is arranged along the extension direction of the main beam. A secondary beam connection hole H1 is provided on each secondary beam support B3 for connecting the secondary beam B2, and the secondary beams B2 are arranged in pairs and symmetrically arranged about the center of the main beam. In the vertical direction (Z-Z), the position of the secondary beam connection hole H1 gradually increases from the middle to both sides to ensure the light concentration performance of the heliostat. The dimension of the same secondary beam support B3 in the vertical direction (Z-Z) remains the same. Therefore, the end holes H2 at both ends of the secondary beam B2 also need to be consistent with the dimension position of the secondary beam connection hole H1 of the secondary beam B2 in the Z-axis direction. By also arranging a second hole position detection device 232 and a secondary beam adjustment part 22 at both ends of the secondary beam B2, the second hole position detection device 232 and the secondary beam adjustment part 22 cooperate to detect the end holes H2 of the secondary beam B2, and the secondary beam adjustment part 22 adjusts the dimension in the Z-axis direction as needed, and then supports the end of the secondary beam B2 to ensure the overall accuracy of the heliostat support.

[0068] Further, please refer to Figure 6 , Figure 6 which is a structural diagram of the mirror frame adjustment mechanism provided by this application. Some components in the figure are not all numbered. Among them, the first hole position detection device 231 is arranged on the top of the first support 211; the second hole position detection device 232 is arranged on the top of the secondary beam adjustment support 221, and the secondary beam adjustment support 221 has a feeding mechanism, and the feeding mechanism can adjust the position of the second hole position detection device 232 in the first direction (X-X), the second direction (Y-Y) and the vertical direction (Z-Z). In addition, the second hole position detection device 232 has a pin shaft 232a, and the diameter of the pin shaft 232a is smaller than the diameter of the end hole H2. During the working process, the dimension position is detected by the second hole position detection device 232, and the position of the pin shaft 232a on the second hole position detection device 232 is adjusted by the feeding mechanism to be in a straight line horizontally and at the same height as the corresponding secondary beam connection hole H1, so as to avoid the problem of the two ends of the secondary beam B2 drooping or towering after installation. Then, the secondary beam B2 and the secondary beam support B3 are connected by a long diagonal brace B5 and a short diagonal brace B6, and the secondary beam B2 is supported by the long and short diagonal braces to keep the secondary beam B2 at the same height in the horizontal direction, which helps to improve the surface accuracy of the heliostat.

[0069] In this embodiment, a plurality of second supports 212 are arranged in a straight line and distributed along the first direction (X-X). The second supports 212 are used to adjust and support the main beam B1 of the heliostat support B. In other words, the main beam B1 is arranged along the first direction (X-X). Specifically, it includes a central support 212a and a clamping support 212b. The central support 212a is used to support the main beam rotating support B4 of the heliostat support B. The clamping supports 212b are arranged in pairs, and are arranged on both sides of the central support 212a along the first direction (X-X) with the central support 212a as the center, and are used to support and clamp both sides of the main beam B1. Among them, both the central support 212a and the clamping support 212b are provided with height adjustment mechanisms for adjusting the support height of the main beam B1.

[0070] In addition, please refer to again Figure 6 , the mirror frame adjustment mechanism 200 further includes a camera module 24. The main beam adjustment part 21 further includes third supports 213 arranged on both sides of the main beam rotating support B4 along the first direction (X-X). Each third support 213 is provided with one camera module 24 at the top. The camera module 24 is used to identify and detect the secondary beam connection hole positions H1 of two secondary beam supports B3 close to the main beam rotating support B4. During the working process, the camera module 24 identifies the positions of the secondary beam connection hole positions H1 of the corresponding secondary beam supports B3. If the secondary beam connection hole positions H1 of the two are not on the same straight line, the main beam is adjusted by the central support 212a and the clamping support 212b, so that the secondary beam connection hole positions H1 of the two secondary beam supports B3 close to the main beam rotating support B4 are concentric and the main beam remains straight and horizontal. After adjustment, the height of the secondary beam connection hole positions H1 on the main beam B1 increases from the middle to both sides.

[0071] In addition, in this embodiment, the mirror frame adjustment mechanism 200 further includes a control part (not shown in the figure). The main beam adjustment part 21, the secondary beam adjustment part 22, the hole position detection device 23 and the camera module 24 are all electrically connected to the control part.

[0072] In some embodiments, the secondary beam B2 can be placed on the primary beam B1 first, and then the secondary beam adjustment unit 22 drives the adjustment of the secondary beam B2. Specifically, during assembly, the primary beam welded part (the primary beam B1 welded with the secondary beam support B3) is first placed on the primary beam adjustment unit 21. The camera module 24 will identify the secondary beam connection hole position H1 on the secondary beam support B3 and send a signal to the control unit. The control unit determines whether they are concentric. If not, a feedback signal is sent to the primary beam adjustment unit 21 to adjust the primary beam B1 through the second support 212. During the adjustment process, the camera module 24 and the second support 212 continuously transmit information to the control unit until the primary beam B1 is adjusted to be straight and horizontal. At the same time, the control unit records the Z-axis dimension position of the secondary beam connection hole position H1 finally identified by the camera module 24; after the primary beam B1 is adjusted, the first hole position detection device 231 arranged on the top of the first support 211 detects the secondary beam connection hole position H1 of the corresponding secondary beam support B3 and sends a signal to the control unit. The control unit uses the signals sent by the camera module 24 and the first hole position detection device 231 as references, places the secondary beam B2 on the secondary beam support B3 and makes a clearance fit through a pin shaft. The second hole position detection device 232 detects the dimension position of the end hole position H2 of the corresponding secondary beam B2 and sends a signal to the control unit. The control unit controls the feeding mechanism to drive the pin shaft 232a on the second hole position detection device 232 to pass through the end hole position H2, and then drives the second hole position detection device 232 to adjust the dimension position in the vertical direction (Z-Z). The pin shaft 232a drives the end of the secondary beam B2 until the height of the end hole position H2 of the secondary beam B2 connected to the secondary beam support B3 is the same as that of the secondary beam connection hole position H1, that is, to keep the secondary beam B2 straight and horizontal in the second direction (Y-Y) and the same height in the vertical direction (Z-Z). The feeding mechanism drives the secondary beam B2 to perform automatic XYZ three-axis direction adjustment to adjust the end hole position H2 of the same secondary beam B2 to be horizontal with the corresponding secondary beam connection hole position H1. After the secondary beam B2 is adjusted, the long and short diagonal braces are installed. One end of the long and short diagonal braces is in clearance fit with the secondary beam through a pin shaft, and the other end is provided with a diagonal brace connecting piece and is fastened to the secondary beam adjustment support with bolts.

[0073] In some other embodiments, after the secondary beam adjustment part 22 and the second hole position detection device 232 are adjusted in place, the secondary beam B2, the long and short diagonal braces are connected to the main beam B1. Specifically, during assembly, the main beam welded part (the main beam B1 welded with the secondary beam support B3) is first placed on the main beam adjustment part 21. The camera module 24 will identify the secondary beam connection hole position H1 on the secondary beam support B3 and send a signal to the control unit. The control unit determines whether they are concentric. If not, it sends a feedback signal to the main beam adjustment part 21 to adjust the main beam B1 through the second support 212. During the adjustment process, the camera module 24 and the second support 212 continuously transmit information to the control unit until the main beam B1 is adjusted to be straight and horizontal. At the same time, the control unit records the Z-axis dimension position of the secondary beam connection hole position H1 finally identified by the camera module 24; after the main beam B1 is adjusted, the first hole position detection device 231 arranged on the top of the first support 211 detects the secondary beam connection hole position H1 of the corresponding secondary beam support B3 and sends a signal to the control unit. The control unit uses the signals sent by the camera module 24 and the first hole position detection device 231 as a reference. The secondary beam adjustment support 221 automatically adjusts the XYZ three-coordinate dimensions of the pin shaft 232a of the second hole position detection device 232 according to the secondary beam connection hole position H1 of the secondary beam support B3 on the already adjusted main beam in the middle. After the adjustment is completed, the middle of the secondary beam B2 is placed on the secondary beam support B3 and is in clearance fit through the pin shaft. The secondary beam connection hole positions H1 at both ends of the secondary beam B2 are connected to the corresponding pin shafts 232a, and the long and short diagonal braces are installed.

[0074] In this embodiment, by using the hole position detection device 23 for positioning detection, the positioning accuracy can be improved and the error can be reduced. The hole position detection device 23 can adopt an infrared detector, etc. And through mechanical automatic adjustment, the manual intervention is greatly reduced, and the labor cost is reduced. In addition, through automatic positioning and adjustment, the efficiency of mirror frame leveling and mirror installation can be greatly improved.

[0075] When the above two processes are both completed, that is, when the bonding sheet of the reflector is installed well and the heliostat support B is adjusted well, the processed reflector can be sucked above the heliostat support B, slowly lowered, and the position of the bonding sheet on the back of the reflector is aligned with the hole position on the secondary beam B2 of the heliostat support B. Then, the secondary beam B2 and the bonding sheet are fastened together with the bonding sheet adjusting sleeve, thus completing a complete assembly process of the heliostat support and the reflector. Finally, the entire assembled mirror frame is lifted by the hoisting device, and the main beam B1 to be processed is placed back on the mirror frame adjustment mechanism 200 for a new round of debugging and processing.

[0076] Please refer to again Figure 4 and Figure 7, in this embodiment, the heliostat installation platform further includes a gripper mechanism 400. The gripper mechanism 4 is used to grab the reflector bonded with the bonding sheet and place it on the secondary beam B2 of the heliostat support B of the mirror frame adjustment mechanism 200. Specifically, the gripper mechanism 400 grabs the reflector bonded with the bonding sheet located on the transfer placement table 300 for installation. By setting the transfer placement table 300, it can be ensured that the bonding glue of the installed reflector has completely solidified, and at the same time, the space of the second mirror placement platform 15 can be released to facilitate the installation and processing of the bonding sheet of the next reflector. At the same time, through the collaborative cooperation of the gripper mechanism 400 and the gripper 13, the efficient assembly of the heliostat support and the reflector is realized, which helps to improve the installation efficiency and shorten the construction period. In this embodiment, the transfer placement table 300 is located in the coverage area of the gripper mechanism 400, and the transfer placement table 300 and the mirror frame adjustment mechanism 200 are distributed along the first direction (X-X). Further, the mirror processing mechanism 100, the transfer placement table 300, and the mirror frame adjustment mechanism 200 are distributed along the first direction (X-X). In this way, the processed reflector can be transferred from the second mirror placement platform 15 to the transfer placement table 300 by the gripper 13 without the need to configure a mechanical gripper, and the processed reflector can be transferred from the transfer placement table 300 to the secondary beam B2 of the adjusted heliostat support B by the gripper mechanism 400.

[0077] Specifically, please refer to Figure 7 , the gripper mechanism 400 includes a truss structure 41, a gripper mounting frame 42, a first driving mechanism 43, a mirror gripper 44, and a second driving mechanism 45 arranged in parallel. The first driving mechanism 43 connects the gripper mounting frame 42 and the truss structure 41, and the second driving mechanism 45 connects the mirror gripper 44 and the gripper mounting frame 42; the truss structure 41 extends along the first direction (X-X), and the mirror frame adjustment mechanism 200 is located between adjacent truss structures 41. Among them, the first driving mechanism 43 is used to drive the gripper mounting frame 42 to move along the first direction (X-X); the second driving mechanism 45 is used to drive the mirror gripper 44 to move along the second direction (Y-Y); the mirror gripper 44 includes a gripper mechanism 441 and a lifting mechanism 442. The lifting mechanism 442 connects the gripper mechanism 441 and the second driving mechanism 45, and the lifting mechanism 442 is used to drive the gripper mechanism 441 to move along the vertical direction (Z-Z).

[0078] During the working process, the linkage of the first driving mechanism 43, the second driving mechanism 45 and the lifting mechanism 442 can realize the adjustment of the gripper mechanism 441 in the three coordinates of X, Y and Z, and realize the actions of grasping, moving and lowering the reflector. In this embodiment, the gripper mechanism 441 also adopts a suction cup gripper and is connected to a vacuum generator. When it is necessary to grasp the reflector, the vacuum generator is started, and the suction cup sucks the front of the reflector. The lifting mechanism 442, the second driving mechanism 45 and the first driving mechanism 43 act to drive the reflector to move. When it moves to the target position, the reflector is slowly lowered onto the auxiliary beam B2, and the vacuum generator stops, and the suction cup is separated from the reflector. In this embodiment, the gripper mechanism 441 and the gripper 13 can share a vacuum generator and are controlled by different switches.

[0079] In this embodiment, through the cooperation of the hole position detection device 23, the main beam adjustment part 21 and the auxiliary beam adjustment part 22, and by adopting an automatic adjustment method, it can better ensure the leveling accuracy of the main beam and the balance on both sides of the auxiliary beam, and then ensure the overall reference and accuracy of the heliostat bracket, which is beneficial to ensuring the surface accuracy. Moreover, by using an automated installation platform, the degree of automation and production efficiency are greatly improved. In the above embodiment, the installation of the long and short diagonal braces and the fixation of the bonding sheet adjusting sleeve can be carried out manually.

[0080] In the above embodiments, some technical implementation manners can be combined or replaced.

[0081] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0082] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0083] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] The technical principles of the present application are described above in combination with specific implementations, but it should be noted that the above descriptions are only for explaining the principles of the present application and cannot be interpreted in any way as a specific limitation on the protection scope of the present application. Based on the explanation here, technicians in this field can think of other specific implementations or equivalent replacements of the present application without creative work, and they will all fall within the protection scope of the present application.

Claims

1. A mirror surface treatment mechanism, characterized in that: including truss columns, which are arranged in parallel between adjacent truss columns; a gripper frame, which is installed between adjacent truss columns and can move along a first direction; a gripper, which is installed on the gripper frame and can move along the vertical direction; and a first mirror placement platform and a second mirror placement platform, which are located in the area between adjacent truss columns and are distributed along the first direction, and the first mirror placement platform and the second mirror placement platform are located below the suction cup gripper; wherein, the first direction and the vertical direction are perpendicular to each other.

2. The mirror surface processing mechanism according to claim 1, wherein: The gripper frame includes gripper sliders that are oppositely arranged and respectively installed on adjacent truss columns. The gripper slider includes a guide post and a first-direction driving device. The first-direction driving device includes a fixed part and a moving part. The fixed part is installed on the truss column and extends along the first direction. The guide post is connected and fixed to the moving part. The guide post extends along the vertical direction. The moving part can move along the fixed part in the first direction.

3. The mirror surface treatment mechanism according to claim 2, characterized in that: The gripper includes a connecting rod, a vertical-direction driving device, a suction cup mounting bracket and a suction cup. Both ends of the connecting rod are respectively connected to the corresponding guide post through a vertical-direction driving device. The suction cup mounting bracket is installed on the connecting rod. The suction cup is installed at the bottom of the suction cup mounting bracket. The connecting rod can move along the guide post in the vertical direction under the action of the vertical-direction driving device; The mirror processing mechanism further includes a vacuum generator, and the vacuum generator is connected to the suction cup.

4. The mirror surface processing mechanism according to claim 2, characterized in that: The mirror processing mechanism further includes an adhesive sheet mounting device, which is used to bond an adhesive sheet to the back of the heliostat mirror on the first mirror placement platform.

5. The mirror surface processing mechanism according to any one of claims 1 to 4, characterized in that: Both the first mirror placement platform and the second mirror placement platform have a conveying function. The first mirror placement platform has a flipping function and can flip the heliostat mirror on it and place it on the second mirror placement platform; or, the mirror processing mechanism further includes a flipping device, which is used to flip the heliostat mirror on the first mirror placement platform and then place it on the second mirror placement platform.

6. The mirror surface treatment mechanism according to any one of claims 1 to 4, characterized in that: The gripper can grasp the heliostat mirror on the second mirror placement platform.

7. A heliostat installation platform, characterized in that: including a mirror processing mechanism and a mirror frame adjustment mechanism. The mirror processing mechanism and the mirror frame adjustment mechanism are distributed along the first direction. The mirror processing mechanism includes: truss columns, which are arranged in parallel between adjacent truss columns; a gripper frame, which is installed between adjacent truss columns and can move along a first direction; a gripper, which is installed on the gripper frame and can move along the vertical direction; and a first mirror placement platform and a second mirror placement platform, which are located in the area between adjacent truss columns and are distributed along the first direction, and the first mirror placement platform and the second mirror placement platform are located below the suction cup gripper; wherein, the first direction and the vertical direction are perpendicular to each other.

8. The heliostat mounting platform according to claim 7, wherein: The mirror frame adjustment mechanism is used to support and adjust the heliostat bracket; The heliostat mounting platform further includes a gripper mechanism, which is located above the mirror frame adjustment mechanism and is used to grab the reflector processed by the mirror surface processing mechanism and install it on the heliostat support located on the mirror frame adjustment mechanism.

9. The heliostat mounting platform according to claim 8, characterized in that: The heliostat mounting platform further includes a transfer placement table, which is located between the mirror surface processing mechanism and the mirror frame adjustment mechanism. The first mirror placement platform, the second mirror placement platform, and the transfer placement table are distributed along a first direction, and the second mirror placement platform is located between the first mirror placement platform and the transfer placement table.

10. A method for installing a heliostat, characterized in that: including Provide a reflector and a heliostat support, place the reflector face down on the first mirror placement platform, and bond the bonding sheet to the back of the reflector; Flip the reflector with the bonding sheet bonded to it and place it face up on the second mirror placement platform; The gripper grabs the reflector on the second mirror placement platform and transfers it to the mirror frame adjustment mechanism; The mirror frame adjustment mechanism places the reflector with the bonding sheet on the heliostat support.

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