Automatic heliostat assembling system and method thereof

Abstract

The invention provides an automatic heliostat assembling system and a method thereof.The automatic heliostat assembling system comprises a circulating conveying system, a plurality of trays for circulating conveying are arranged on the circulating conveying system, and a lens feeding mechanical arm, a gluing mechanical arm, a back plate feeding mechanical arm and a material moving mechanical arm are sequentially arranged beside the circulating conveying system along the conveying path of the trays; a material moving mechanical arm is arranged on the tray, a discharging mechanism is arranged beside the material moving mechanical arm, the heliostat is taken out of the tray through the material moving mechanical arm, the whole production line only occupies 600m < 2 >, lens and back plate bidirectional feeding is adopted, the heliostat is assembled on the circulating tray, and efficient and high-precision automatic assembling of the heliostat is achieved through feeding, gluing, assembling and cooling.

Description

Technical Field

[0001] The invention relates to the technical field of heliostats and provides an automatic assembly system for heliostats. Background Art

[0002] Concentrated solar power (CSP) is a technology that uses solar energy to generate electricity. Its core is to use heliostats to concentrate sunlight, convert it into heat, and then generate electricity through a traditional thermal cycle. Heliostats are the core concentrating components of tower-type CSP systems. Their function is to track the sun's position in real time using an array of high-precision reflective mirrors, reflecting and focusing solar radiation onto a receiver at the top of the tower.

[0003] Heliostat fields typically consist of thousands of heliostats arranged in a ring or matrix, reflecting sunlight onto collector towers. This requires large-scale assembly of heliostats, and manual production requires frequent handling of workpieces, flow processes, and riveting at nearly a hundred connection points, resulting in a significant amount of repetitive labor. This makes it difficult to ensure heliostat assembly accuracy and leads to low efficiency and long construction times. This is especially true in plateaus, deserts, and wastelands where the annual direct irradiation (DNI) exceeds 2000 kWh / m². The high labor and high scrap rate result in significant costs. Summary of the Invention

[0004] To address the problems of low automation and high production costs of heliostats in the prior art, the first object of the present invention is to provide an automatic heliostat assembly system, comprising a circulating conveyor system equipped with a plurality of circulating pallets, wherein a lens loading robot arm, a gluing robot arm, a backboard loading robot arm, and a material transfer robot arm are sequentially arranged along the circulating conveyor system according to the transport path of the pallets.

[0005] A lens loading mechanism is provided next to the lens loading robot arm. The lens loading mechanism is the input end of the lens. The lens loading robot arm adsorbs the lens from the lens loading mechanism to the tray with the back side facing upwards.

[0006] The glue-spreading robot arm is used to apply glue at the glue-spreading points on the back of the lens;

[0007] The back plate loading robot arm is used to grab the heliostat back plate, align the adhesive part of the heliostat back plate with the gluing point and place it on the lens;

[0008] A material unloading mechanism is provided next to the material transfer robot arm, and the material transfer robot arm takes the heliostat out of the tray;

[0009] The circulating conveying system is provided with a first pallet positioning mechanism, a second pallet positioning mechanism, a third pallet positioning mechanism and a fourth pallet positioning mechanism in sequence, and the pallets are stopped in front of the lens loading robot arm, the gluing robot arm, the back plate loading robot arm and the material moving robot arm respectively.

[0010] Specifically, the tray includes a tray body, a bearing surface arranged on the tray body and a chassis arranged at the bottom of the tray body, corner positioning blocks are arranged at the four corners of the bearing surface, and the bearing surface is provided with a plurality of adjusting bolts arranged in a circle with the center of the bearing surface as the center of the circle, and the nut height of the adjusting bolt decreases successively with the increase of the radius of the circle; inverted detection blocks are symmetrically provided at the bottom of the bearing surface, and anti-collision blocks are provided on the outside of the detection blocks; the chassis is a square frame structure, and each side of the chassis is provided with a centrally symmetrical dislocation groove, and the dislocation grooves on the opposite sides are staggered, and the four corners of the chassis are provided with a give way groove; the bottom of the tray body is provided with a tray positioning block, and a groove is provided in the tray positioning block.

[0011] Specifically, the circulating conveying system includes a first straight-line conveying mechanism, a first steering conveying mechanism, a second straight-line conveying mechanism and a second steering conveying mechanism connected in sequence. The first steering conveying mechanism and the second steering conveying mechanism are roller conveyor belts. The input end of the first steering conveying mechanism is connected to the output end of the first straight-line conveying mechanism. The output end of the first steering conveying mechanism is perpendicular to the second straight-line conveying mechanism. The input end of the second steering conveying mechanism is perpendicular to the second straight-line conveying mechanism. The output end of the second steering conveying mechanism is connected to the input end of the first straight-line conveying mechanism. The first steering mechanism and the second steering mechanism are respectively provided at the connection between the second straight-line conveying mechanism and the first steering conveying mechanism and the second steering conveying mechanism. The plane where the first straight-line conveying mechanism, the first steering conveying mechanism and the second steering conveying mechanism are located is located in the first plane, the plane where the second steering conveying mechanism is located is located in the second plane, and the second plane is lower than the first plane.

[0012] Specifically, the first steering mechanism includes a first base frame fixedly installed in the second linear conveying mechanism, a third lifting cylinder with a piston rod pointing vertically upward is provided in the first base frame, a first pallet lifting frame is provided on the piston rod of the third lifting cylinder, a first steering conveyor belt matching the movement direction of the first steering conveying mechanism is provided in the second pallet lifting frame, a first blocker is provided on the side of the first pallet lifting frame close to the first steering conveying mechanism, and the first blocker is provided at the dislocation groove on the front side of the pallet;

[0013] The second steering mechanism includes a second base frame fixedly installed in the second linear conveying mechanism, a fourth lifting cylinder with a piston rod pointing vertically upward is provided in the second base frame, a second pallet lifting frame is provided on the piston rod of the fourth lifting cylinder, a second steering conveyor belt matching the movement direction of the second steering conveying mechanism is provided in the second pallet lifting frame, and a second blocker is provided in the second pallet lifting frame.

[0014] Specifically, the lens loading mechanism includes a flipping mechanism arranged at the loading end, a lens conveying mechanism and a lens positioning mechanism arranged in the lens conveying mechanism, the flipping mechanism includes a first frame, a flipping frame hinged on the first frame and a flipping cylinder arranged in the first frame, the piston rod of the flipping cylinder is hinged to the flipping frame to transfer the lenses placed in the flipping mechanism to the lens conveying mechanism; a plurality of conveyor belts arranged at intervals are provided in the lens conveying mechanism; the lens positioning mechanism includes a first lifting cylinder and a lens lifting frame arranged on the first lifting cylinder, a plurality of support frames arranged alternately with the conveyor belts are provided in the lens lifting frame, and a horizontal positioning cylinder and a longitudinal positioning cylinder are provided on at least two adjacent sides of the lens lifting frame.

[0015] Specifically, the first pallet positioning mechanism is a lifting blocker, the second pallet positioning mechanism, the third pallet positioning mechanism and the fourth pallet positioning mechanism all include a lifting blocker and a pallet lifting platform, the lifting blocker is arranged at the front end of the pallet lifting platform, the pallet lifting platform includes a fixed frame, a second lifting cylinder is arranged in the fixed frame, the piston rod of the second lifting cylinder is arranged vertically upward, and a positioning frame is arranged on the piston rod, the upper surface of the positioning frame is provided with a support block matching the position of the pallet positioning block, and a positioning pin is provided on at least the support block at the diagonal position.

[0016] Specifically, a mounting frame is provided at the gripper of the lens loading robot arm, and a plurality of suction cups connected to the vacuum generator through pipelines are provided in the mounting frame. A vertical plate is provided at the front end of the mounting frame, and a slide cylinder is provided on the front side of the vertical plate. The piston rod of the slide cylinder is set downward, and a plasma cleaning head is provided in the slide on the side wall of the slide cylinder.

[0017] Specifically, a primary curing section is provided between the first steering mechanism and the fourth pallet positioning mechanism, and a plurality of fourth lifting stoppers are equidistantly provided in the primary curing section.

[0018] Specifically, a secondary curing mechanism is arranged next to the second linear conveying mechanism, and the secondary curing mechanism includes a double-layer frame and a lifting frame. The double-layer frame includes a third linear conveying mechanism and a fourth linear conveying mechanism. The movement direction of the third linear conveying mechanism is toward the lifting frame, and the movement direction of the fourth linear conveying mechanism is away from the lifting frame. A guide mechanism and a limit block are provided at the end of the fourth linear conveying mechanism; the lifting frame includes an outer frame, a vertical material moving mechanism arranged in the outer frame, and a horizontal material moving mechanism installed in the vertical material moving mechanism.

[0019] A second object of the present invention is to provide a heliostat automatic assembly method, comprising:

[0020] S1: Place the lens on the feed end of the flip frame, flip the flip frame to the lens conveying mechanism, and move the lens to the lens positioning mechanism through the lens conveying mechanism. The lens positioning mechanism lifts the heliostat and adjusts and fixes the lens position through the longitudinal positioning cylinder and the transverse positioning cylinder.

[0021] S2: The lens loading robot grabs the lens at a fixed point and places it with the back side facing up on a tray stopped by the first lifting blocker. The piston rod of the slide cylinder extends, allowing the plasma cleaning head to approach the lens. The lens loading robot cleans the glue coating point on the back side of the lens along the preset motion trajectory, and the first lifting blocker is lowered to release the tray.

[0022] S3: Driven by the first linear conveyor mechanism, the pallet moves in front of the gluing robot arm. The second lifting stopper stops the pallet. The first pallet lifting platform lifts and positions the pallet. The gluing robot arm applies glue at the gluing point of the lens along the preset trajectory. The second lifting stopper and the first pallet lifting platform lower to release the pallet.

[0023] S4: Driven by the first linear conveyor mechanism, the pallet moves in front of the backboard loading robot arm. The third lifting stopper stops the pallet, and the second pallet lifting platform lifts and positions the pallet. The backboard loading robot arm grabs the heliostat backboard and aligns the adhesive portion with the gluing point, placing it on the lens. The third lifting stopper and the second pallet lifting platform lower to release the pallet.

[0024] S5: The pallet moves from the first linear conveying mechanism to the first diverting conveying mechanism. The first diverting conveyor belt rises to be flush with the first diverting conveying mechanism and rotates synchronously with the first diverting conveying mechanism. The pallet rotates 90° through the first diverting conveying mechanism and moves onto the first diverting mechanism. After the pallet is stopped by the first blocker, the first diverting conveyor belt is lowered, and the pallet is transferred to the second linear conveying mechanism.

[0025] S6: The pallet moves under the drive of the second linear conveying mechanism. The fourth lifting blockers in the plurality of second linear conveying mechanisms use a cascade control method to stop and release the pallet in sequence, and release the blockage of the front pallet in sequence from front to back;

[0026] S7: The fifth lift block stops the pallet, the third pallet lift platform raises and positions the pallet, and the material transfer robot grabs the heliostat in the pallet, flips the heliostat so that the front side of the heliostat faces upward, and places it on the third linear conveyor mechanism. After the heliostat is removed, the fifth lift block and the third pallet lift platform lower to release the pallet.

[0027] S7.1: Driven by the second linear conveyor, the pallet moves to the second diverting mechanism. After the pallet is stopped by the second stopper, the second diverting conveyor belt rises to be flush with the second diverting conveyor and rotates synchronously with the second diverting conveyor, transferring the pallet to the second diverting conveyor. The pallet then rotates 90° through the second diverting conveyor to the first linear conveyor, where it is stopped by the first lifting stopper.

[0028] S8: The heliostat moves under the drive of the third linear conveyor mechanism. The horizontal material moving mechanism in the lifting frame is aligned with the third linear conveyor mechanism and rotates synchronously with the third linear conveyor mechanism. The heliostat moves from the third linear conveyor mechanism to the lifting frame. Then, the horizontal material moving mechanism moves vertically until it is aligned with the fourth linear conveyor mechanism and moves synchronously with the fourth linear conveyor mechanism. The heliostat moves to the guide mechanism under the drive of the fourth linear conveyor mechanism and is stopped by the limit block after being corrected and adjusted by the guide mechanism.

[0029] S9. The material transfer robot grabs the heliostat and moves it to the unloading mechanism.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. Based on the modular design concept, this invention provides an automated assembly production line with a small footprint. There is no need to build a professional customized factory building. The entire production line occupies an area of ​​only 600m 2 , and the current about 3000m 2 Compared with the heliostat production line, the production line covers an area of ​​80% less.

[0032] 2. The heliostat automatic assembly system provided by the present invention adopts bidirectional loading of lens backplanes and assembles heliostats on a circulating tray. Through loading, gluing, assembly, and cooling, efficient and high-precision automatic assembly of heliostats is achieved. The maximum daily production capacity of a single production line can reach 2040 heliostats, and the assembled heliostat area exceeds 4400m 2 Compared with manual bonding, the production efficiency is increased by more than 300%. The automated production line realizes precise production process control, reduces human errors and variations, and improves product consistency and quality stability.

[0033] 3. When installing the heliostat, the heliostat is adjusted by adjusting the bolts and assembling the back plate of the heliostat so that the lens presents a certain concave curvature from the center to the periphery. The lens is in the shape of a concave mirror as a whole, which improves the interception efficiency of the heat absorber. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the present invention in use;

[0035] Figure 2 Schematic diagram of the circulating conveying system of the present invention;

[0036] Figure 3 A top view of the circulating conveying system of the present invention;

[0037] Figure 4 This is a schematic structural diagram of the lens feeding mechanism of the present invention;

[0038] Figure 5 This is a schematic diagram of the first direction of the flip mechanism of the lens feeding mechanism of the present invention;

[0039] Figure 6 This is a schematic diagram of the flip mechanism of the lens feeding mechanism of the present invention in the second direction;

[0040] Figure 7 This is a left side view of the flip mechanism of the lens feeding mechanism of the present invention;

[0041] Figure 8 Schematic diagram of the positioning mechanism of the lens feeding mechanism of the present invention;

[0042] Figure 9 This is a schematic diagram of the lens loading robotic arm structure of the present invention;

[0043] Figure 10 This is a schematic diagram of the pallet structure of the present invention;

[0044] Figure 11 This is a schematic diagram of the back structure of the tray of the present invention;

[0045] Figure 12 This is a structural diagram of a pallet lifting platform of the present invention;

[0046] Figure 13 This is a schematic structural diagram of the first steering mechanism of the present invention;

[0047] Figure 14 This is a schematic structural diagram of the second steering mechanism of the present invention;

[0048] Figure 15 This is a schematic structural diagram of the secondary curing mechanism of the present invention;

[0049] Figure 16 This is a schematic diagram of the structure of the lifting frame of the secondary curing mechanism of the present invention in the first direction;

[0050] Figure 17 This is a schematic diagram of the structure of the lifting frame of the secondary curing mechanism of the present invention in the second direction;

[0051] Figure 18 It is a structural schematic diagram of the double-layer rack unloading position guiding mechanism of the present invention.

[0052] Reference numerals: 1. lens feeding mechanism; 11. flipping mechanism; 111. first frame; 1111. bearing seat; 1112. fixing seat; 1113. shock absorber; 1114. mounting seat; 112. flip cylinder; 1121. fork head; 113. flip frame; 1131. flip arm; 1132. bottom support portion; 1133. position limiting frame; 1134. ear plate; 1135. hinge plate; 1136. hinge shaft; 1137. first proximity sensor; 1138. shock absorbing block; 12. lens conveying mechanism; 121. second proximity sensor; 122. third proximity sensor; 13. lens positioning mechanism; 131. second frame; 132. first lifting cylinder; 133. lens lifting frame; 133 1. First positioning part; 1332. Second positioning part; 1333. Longitudinal positioning cylinder; 1334. Horizontal positioning cylinder; 1335. Support frame; 1336. Push plate; 1337. Protective block; 14. Protective layer; 2. Lens loading robot; 21. Mounting frame; 22. Suction cup; 23. Plasma cleaning head; 24. Vertical plate; 25. Slide cylinder; 3. Circular conveying system; 301. First linear conveying mechanism; 302. First steering conveying mechanism; 303. Second linear conveying mechanism; 304. Second steering conveying mechanism; 3051. Fixing frame; 3052. Second lifting cylinder; 3053. Positioning frame; 3054. Support block; 3055. Positioning pin; 31. Lens loading section; 311. First lifting and lowering mechanism 312, fourth proximity sensor; 32, gluing section; 321, second lifting blocker; 322, first pallet lifting platform; 323, fifth proximity sensor; 33, back panel assembly section; 331, third lifting blocker; 332, second pallet lifting platform; 333, sixth proximity sensor; 34, first steering mechanism; 341, first chassis; 342, third lifting cylinder; 343, first pallet lifting frame; 344, first steering conveyor; 345, first blocker; 346, first block; 347, first positioning wall; 348, seventh proximity sensor; 35, primary curing section; 351, fourth lifting blocker; 352, eighth proximity sensor; 36, lens tray separation section Section; 361, third pallet lift platform; 362, fifth lift blocker; 363, ninth proximity sensor; 37, second steering mechanism; 371, second chassis; 372, fourth lifting cylinder; 373, second pallet lift frame; 374, second steering conveyor; 375, second blocker; 376, second stopper; 377, second positioning wall; 378, tenth proximity sensor; 4, pallet; 41, tray body; 42, bearing surface; 421, corner positioning block; 422, adjusting bolt; 423, detection block; 424, anti-collision block; 43, chassis; 431, clearance groove; 432, offset groove; 433, pallet positioning block; 5, gluing robot arm; 6, backboard loading robot arm; 7, backboard flatness detection system;71. Backboard loading rack; 72. Inspection rack; 73. Recovery rack; 8. Material transfer robot; 9. Secondary curing mechanism; 91. Double-layer rack; 911. Third linear conveyor mechanism; 912. Fourth linear conveyor mechanism; 913. Guide mechanism; 9131. Guide wall; 9132. Angle cylinder; 9133. Rotating rod; 914. Limit block; 915. Twelfth proximity sensor; 916. Thirteenth proximity sensor; 92. Lifting rack 921. Outer frame; 922. Vertical material transfer mechanism; 9221. Pneumatic slide rail; 9222. Pneumatic slider; 9223. Positioning slide rail; 9224. Positioning slider; 9225. Fixing plate; 923. Horizontal material transfer mechanism; 9231. Base; 9232. Horizontal support rod; 9233. Material transfer conveyor belt; 9234. Eleventh proximity sensor; 924. Support column; 925. Rubber shock absorber; 10. Unloading mechanism. DETAILED DESCRIPTION

[0053] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0054] In the description of the present invention, unless otherwise specified, "plurality" means two or more. Terms such as "upper," "lower," "left," "right," "inner," "outer," "front," and "rear" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, terms such as "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] As shown in the figure, the present invention provides an automatic assembly system for heliostats, including a circulating conveying mechanism 3, on which a plurality of circulating transport trays 4 are arranged. A lens loading robot arm 2, a gluing robot arm 5, a backboard loading robot arm 6 and a material moving robot arm 8 are sequentially arranged around the circulating conveying system 3 along the transport path of the tray 4. A lens loading mechanism 1 is arranged next to the lens loading robot arm 2. The lens loading robot arm 2 picks up the lens from the lens loading mechanism 1 at a fixed point and transfers it to the tray 4. The tray 4 carries the lens along the circulating conveying path. System 3 moves, and glue-applying robot 5 applies glue to the glue-applying points on the back of the lens. Backplate loading robot 6 aligns the adhesive portion of the backplate with the glue-applying points and places it on the back of the lens. Tray 4, carrying the assembled heliostats, moves along the circular conveyor mechanism 3, and the glue gradually solidifies during the movement. Tray 4 is transported to transfer robot 8, which removes the lens from tray 4. Tray 4 continues to circulate in the circular conveyor mechanism 3. After the heliostat glue solidifies, it is transferred to unloading mechanism 10, thus achieving high-precision assembly of the heliostat lenses and backplates.

[0056] The lens loading mechanism 1 includes a flipping mechanism 11, a lens conveying mechanism 12 and a lens positioning mechanism 13. The flipping mechanism 11 is located at the loading end, and the lenses placed in the flipping mechanism 11 are transferred to the lens conveying mechanism 12. The lens conveying mechanism 12 is provided with a lens positioning mechanism 13, which lifts and positions the lenses on the lens conveying mechanism 12, so that the lens loading robot arm 2 can accurately grasp the lenses and accurately place them on the tray 4.

[0057] The flip mechanism 11 comprises a first frame 111, with a flip frame 113 hingedly connected to the front end of the first frame 111. A flip cylinder 112 is mounted within the first frame 111. The piston of the flip cylinder 112 is hingedly connected to the flip frame 113, allowing the flip frame 113 to rotate by retracting and retracting the piston rod of the flip cylinder 112. During loading, the flip frame 113 is in an initial, tilted position. After loading, the flip frame 113 flips parallel to the ground, slightly below the plane of the lens conveyor mechanism 12. The flip frame 113 comprises an L-shaped flip portion and a hinged portion located at the rear of the flip portion. The flip portion comprises a flip arm 1131, a bottom support 1132 located at the bottom of the flip arm 1131, and a stop frame 1133 located on one side of the flip arm 1131. A protective layer 14 made of rubber is applied to the surfaces of the flip arm 1131, the bottom support 1132, and the stop frame 1133 to protect the lenses from scratches and bumps. When loading, the front of the lens faces the flip arm 1131, the bottom edge of the lens is placed on the bottom support part 1132, and one side of the lens is attached to the edge of the limit frame 1133, positioning the loading position of the lens so that the lens can be transferred from the fixed point to the lens conveying mechanism 12.

[0058] The hinged portion includes a hinge shaft 1136, a hinge plate 1135, and a lug plate 1134. The hinge shaft 1136 is fixedly connected to the hinge plate 1135 and the lug plate 1134 via bolts. Bearing seats 1111 are provided on either side of the upper surface of the first frame 111. The hinge shaft 1136 is connected to the bearing seats 1111. A mounting seat 1114 is provided in the first frame 111, and the tilt cylinder 112 is movably connected to the mounting seat 1114. A through hole is provided in the first frame 111 above the tilt cylinder 112. The piston rod of the tilt cylinder 112 extends through the through hole. A fork head 1121 is provided at the end of the piston rod. The fork head 1121 is hinged to the hinge plate 1135. The rotation of the tilt frame 113 is controlled by the extension and retraction of the piston rod of the tilt cylinder 112. A first shock-absorbing block 1138 is provided on the rear side of the flip frame 113, and a damping shock absorber 1113 is provided in the first frame body 111 at a position corresponding to the first shock-absorbing block 1138. A fixing seat 1112 for fixing the shock absorber 1113 is provided on the first frame body 111. When the flip frame 113 flips, the shock absorber 1113 contacts the first shock-absorbing block 1138. The shock absorber 1113 causes the flip frame 113 to slowly descend when flipping to the horizontal position, and absorbs the vibration of the flip frame 113 during the flipping process, so that the lenses can be smoothly transported to the lens conveying mechanism 12.

[0059] A first proximity sensor 1137 is provided at the loading position of the flip rack 113. The first proximity sensor 1137 is electrically connected to the controller and is used to detect whether the lens is installed in place. A foot switch is provided in the safety area outside the rack. After the staff places the lens on the flip rack 113, they step on the foot switch. The first proximity sensor 1137 detects whether a lens is placed at the current position. If it is detected that a lens is placed at the current position, the controller controls the piston rod of the flip cylinder 112 to retract and transfer the lens to the lens conveying mechanism 12.

[0060] The lens conveying mechanism 12, driven by a first drive device and located behind the flipping mechanism 11, is used to transport lenses from the flipping mechanism 11 to the lens positioning mechanism 13. The lens positioning mechanism 13, located behind the lens loading mechanism 1, provides a safe operating space for the lens loading robot 2 to avoid collisions with personnel. The lens conveying mechanism 12 is equipped with four conveyor belts, spaced apart. A second proximity sensor 121 is provided along the lens conveying path within the lens conveying mechanism 12. The second proximity sensor 121 is electrically connected to the controller and detects the real-time position of the first proximity backplate. When the flipping mechanism 11 is loading, the distance from the second proximity sensor 121 to the front end of the flipping mechanism 11 is greater than the width of the lens. When the second proximity sensor 121 senses the lens, it indicates that the lens has completely left the flipping frame 113, and the controller controls the flipping frame 113 to return to its original position.

[0061] The lens positioning mechanism 13 is located behind the lens conveying mechanism 12 and comprises a lifting mechanism and a lens lift frame 133 mounted on the lifting mechanism. The lifting mechanism is mounted on a second frame 131 and comprises four first lifting cylinders 132 fixedly mounted on the second frame 131. The piston rods of the first lifting cylinders 132 are vertically positioned upward, and the lens lift frame 133 is mounted on the piston rods of the first lifting cylinders 132. The lens lift frame 133 comprises four support frames 1335, which are arranged in an interlaced manner with the conveyor belt. When the first lifting cylinders 132 lift the lens lift frame 133, the height of the support frames 1335 is higher than the height of the conveyor belt, lifting the lens from the lens conveying mechanism 12. A lateral positioning cylinder 1334 for adjusting the lateral position of the lens and a longitudinal positioning cylinder 1333 for adjusting the longitudinal position of the lens are located on at least two adjacent sides of the lens lift frame 133, facilitating the robotic arm's ability to grasp the lens from a specific location. A rubber protective layer 14 is provided on the upper surface of the support frame 1335 to prevent the lens from being scratched.

[0062] Specifically, a first positioning portion 1331 and a second positioning portion 1332 are respectively provided at the front end corner of the lens lifting frame 133, wherein the front end and left side of the first positioning portion 1331 are respectively provided with a protective block 1337, the front end of the second positioning portion 1332 is provided with a protective block 1337, and the right side of the second positioning portion 1332 is provided with a horizontal positioning cylinder 1334 fixedly mounted on the lens lifting frame 133, and the piston rod of the horizontal positioning cylinder 1334 extends to the right side, and the rear side of the lens lifting frame 133 is provided with a longitudinal positioning cylinder 1333 fixedly mounted on the lens lifting frame 133, and there are two longitudinal positioning cylinders 1333, and the piston rods extend to the rear side. Push plates 1336 are mounted at the ends of the piston rods of transverse and longitudinal positioning cylinders 1334, 1333. A protective block 1337 is mounted on push plates 1336. When the piston rods of transverse and longitudinal positioning cylinders 1334, 1333 retract, their rods retract, and protective block 1337 pushes the lens leftward and forward, respectively. The first and second positioning portions 1331, 1332 limit the front and left ends of the lens. Pushed by transverse and longitudinal positioning cylinders 1334, 1333, the lens is secured in the lens lift frame 133. Protective block 1337 is a circular rubber block that prevents the lens from being bumped during adjustment.

[0063] In the lens conveying mechanism 12, a third proximity sensor 122 is provided in the front half of the lens positioning mechanism 13. The third proximity sensor 122 is arranged vertically upward and electrically connected to the controller. When the third proximity sensor 122 detects the lens, the controller drives the piston rod of the first lifting cylinder 132 to extend to lift the lens lifting frame 133. The lens lifting frame 133 lifts the lens from the lens conveying mechanism 12, and then the piston rods of the horizontal positioning cylinder 1334 and the longitudinal positioning cylinder 1333 are retracted to adjust the position of the lens, and the lens is fixed in the lens positioning mechanism 13. The lens is vacuum-sucked by the lens loading robot 2 and moved to the circulating conveying system 3.

[0064] When the lens loading mechanism 1 is in use, a worker places a lens in the flip rack 113 and steps on the foot switch. The first proximity sensor 1137 detects whether a lens is placed at the current location. If a lens is detected, the controller controls the piston rod of the flip cylinder 112 to retract and transfer the lens to the lens conveying mechanism 12. The lens is then conveyed along the lens conveying mechanism 12 to the lens positioning mechanism 13. After the third proximity sensor 122 detects the lens, the controller controls the first lifting cylinder 132 to raise the lens lifting rack 133 to lift the lens. Subsequently, the piston rods of the horizontal positioning cylinder 1334 and the vertical positioning cylinder 1333 retract to adjust the lens position and secure the lens, thus achieving fixed-point loading of the heliostat lens and improving the assembly accuracy of the heliostat lenses.

[0065] The gripper of the lens loading robot 2 is provided with a mounting frame 21, and a plurality of suction cups 22 are provided in the mounting frame 21. The suction cups 22 are connected to the vacuum generator provided in the robot arm through a pipe. The lenses are sucked from the lens positioning mechanism 13 and moved to the circulating conveying system 3 by vacuum suction. The front end of the mounting frame 21 is provided with a vertical plate 24, and a slide cylinder 25 is fixedly installed on the outer side of the vertical plate 24. The piston rod of the slide cylinder 25 is set downward. The plasma cleaning head 23 is fixedly installed in the slide on the side wall of the slide cylinder 25 and is set towards the lens. The plasma cleaning head 23 is a prior art and will not be described in detail here. The plasma cleaning head 23 is used to clean the adhesive area on the back of the lens through plasma, effectively removing organic pollutants and tiny particles on the back of the lens, providing an ideal bonding interface for the adhesive and improving the firmness of the adhesive. The combination of the glue coating robot 5 and the plasma cleaning head 23 eliminates the need for additional equipment for plasma cleaning, saving factory space.

[0066] The gripper of the lens loading robot arm 2 moves to the lens positioning mechanism 13, and the vacuum generator is started to form a negative pressure in the adsorption chamber, so that the suction cup 22 sucks the lens and moves the lens to the tray 4 of the lens loading section 31 through the movement of the robot arm. After it is placed in place, the vacuum generator stops running, and the blow valve blows air into the vacuum chamber to release the adsorption state. Then the piston rod of the slide cylinder 25 extends to drive the plasma cleaning head 23 to move downward, so that the plasma cleaning head 23 is close to the lens. The lens loading robot arm 2 drives the plasma cleaning head 23 to move along the preset path and clean the glue coating points to eliminate dust, pollutants, etc. on the back of the lens, thereby improving the adhesion during gluing.

[0067] In order to control the size of the production line as much as possible and save factory space, as a preferred embodiment of the present invention, the circulating conveying system 3 includes a first linear conveying mechanism 301, a first diverting conveying mechanism 302, a second linear conveying mechanism 303, and a second diverting conveying mechanism 304 connected in sequence, wherein the plane where the first linear conveying mechanism 301, the first diverting conveying mechanism 302, and the second diverting conveying mechanism 304 are located is located in the first plane, and the plane where the second linear conveying mechanism 303 is located is located in the second plane, and the second plane is lower than the first plane. The first linear conveying mechanism 301 and the second linear conveying mechanism 303 are top roller chain conveyor belts, with top roller chains provided on both sides of the conveyor belts; the first diverting conveying mechanism 302 and the second diverting conveying mechanism 304 are 90° roller conveyor belts, and straight sections are provided at the input and output ends of the first diverting conveying mechanism 302 and the second diverting conveying mechanism 304 to provide a smooth transition for the movement of the pallet 4 and prevent the pallet 4 from shifting.

[0068] The first linear conveying mechanism 301 is driven by the second drive unit, the first diverting conveying mechanism 302 is driven by the third drive unit, the second linear conveying mechanism 303 is driven by the fourth drive unit, and the second diverting conveying mechanism 304 is driven by the fifth drive unit. The input end of the first diverting conveying mechanism 302 is connected to the output end of the first linear conveying mechanism 301, and the output end of the first diverting conveying mechanism 302 is perpendicular to the second linear conveying mechanism 303. The input end of the second diverting conveying mechanism 304 is perpendicular to the second linear conveying mechanism 303, and the output end of the second diverting conveying mechanism 304 is connected to the input end of the first linear conveying mechanism 301.

[0069] The circular conveyor system 3 is used to transport pallets 4. Pallets 4 pass through a first linear conveyor mechanism 301, a first diverting conveyor mechanism 302, a second linear conveyor mechanism 303, and a second diverting conveyor mechanism 304 in sequence, where heliostats are assembled and cured. The first linear conveyor mechanism 301 includes a lens loading section 31, a gluing section 32, and a backplane assembly section 33. The second linear conveyor mechanism 303 includes a first diverting mechanism 34, a primary curing section 35, a lens-tray separation section 36, and a second diverting mechanism 37.

[0070] Multiple robotic arms are installed along the circular conveyor system 3 to perform processes such as loading, gluing, assembly, and material transfer. A lens loading robotic arm 2 is located on one side of the loading section 31 and picks up lenses from the lens loading mechanism 1 and places them on a tray 4. A gluing robotic arm 5 is located on one side of the gluing section 32 and applies glue to the glue points on the back of the lenses placed on the tray 4. A backboard loading robotic arm 6 is located on one side of the backboard assembly section 33 and grabs heliostat backboards that have passed the backboard flatness inspection system 7 and assembles them onto the lenses. A material transfer robotic arm 8 is located next to the lens tray separation section 36 and removes heliostats from the tray 4 and moves them to the secondary curing mechanism 9 for further curing. After curing, the heliostats are removed from the output end of the secondary curing mechanism 9 and moved to the unloading mechanism 10. The secondary curing mechanism 9 is located next to the second linear conveyor mechanism 303 and uses a double-layer conveyor belt to extend the curing time of the glue.

[0071] If the factory building is large enough, it is not necessary to additionally provide the secondary curing mechanism 9 , and the curing time of the heliostats can be prolonged by extending the length of the circulation conveying system 3 .

[0072] Tray 4 is placed in the circulating conveyor system 3 and includes a tray body 41 with a supporting surface 42 disposed thereon. The supporting surface 42 is larger than the tray body 41. The supporting surface 42 is rectangular and has corner positioning blocks 421 disposed at its four corners to limit the position of the lenses. Guide slopes are disposed on the inner sides of the corner positioning blocks 421.

[0073] The mirror is made of low-iron, ultra-clear float glass. To reduce the size of the heliostat's reflected light spot and improve the absorber's interception efficiency, the mirror's curvature needs to be adjusted, resulting in an overall concave mirror shape. On the bearing surface 42, multiple adjustment bolts 422 are arranged circumferentially, with the center of the bearing surface 42 as the center. The nuts of the adjustment bolts 422 have varying heights, decreasing in height as the radius of the circle increases. This results in the adjustment bolts 422, mounted on the bearing surface 42, being higher in the center and lower around the edges. The upper surface of the nut is curved, contacting the front of the mirror to prevent scratches. The lens is generally approximately 3 mm thick and relatively large. The lens, held in place by its own gravity, adheres to the bolts, resulting in a concave curvature from the center outward.

[0074] The chassis 43, a square frame structure made of rubber, is located at the bottom of the tray 41. Limiting walls are provided on both sides of the circular conveyor system 3. The width of the chassis 43 matches the width of the limiting walls to prevent the pallet 4 from shifting during transport. Centrally symmetrical offset slots 432 are provided on each side of the chassis 43. The offset slots 432 on opposite sides of the chassis 43 are staggered. These slots allow the pallet 4 to pass through the front of the stopper and stop it from the inside during the turning process. Clearance slots 431 are provided at the four corners of the chassis 43 to allow the chassis 43 to make way for the stoppers that limit the position of the pallet 4 during the turning process. Since the pallet 4 rotates 180° as a whole every time it moves one circle in the circulating conveying system 3, a clearance groove 431 is set at the four corners of the chassis 43, and a centrally symmetrical offset groove 432 is set on each side of the chassis 43. When the pallet 4 passes through the blocker in different directions, the blocker can pass through the offset groove 432.

[0075] Tray positioning blocks 433 are located at the bottom of the tray 41, at the four corners inside the frame-like structure of the chassis 43. These blocks contain grooves for positioning the tray lift platform on the position of the tray 4. Symmetrically positioned along the lengthwise bottom edge of the load-bearing surface 42 are inverted detection blocks 423. These serve as proximity sensors to detect targets, and are surrounded by anti-collision blocks 424. If a pallet 4 collides with another pallet 4 accidentally, these blocks 424 absorb the kinetic energy of the collision through elastic deformation, preventing direct, hard contact and structural damage.

[0076] To control the movement and stopping of pallet 4, a lift blocker is installed at the desired stopping position. This blocker comprises a pneumatically driven, upwardly extending piston rod and a horizontally mounted damper. The damper's piston rod faces the feed direction, slowly stopping pallet 4 through damping. When the vertical piston rod extends, the damper stops pallet 4. Retracting the vertical piston rod releases pallet 4. This lift blocker is conventional technology, and its internal structure is not described here.

[0077] At the lens loading section 31, a first pallet positioning mechanism is provided, which is used to stop the pallet 4 in front of the lens loading robot arm 2. The first pallet positioning mechanism is a first lifting blocker 311. In the initial state, the height of the piston rod of the first lifting blocker 311 is lower than the height of the top roller chain. On the outside of the top roller chain conveyor belt, a fourth proximity sensor 312 is provided next to the first lifting blocker 311. The fourth proximity sensor 312 is electrically connected to the controller. The position of the detection block 423 is detected by the fourth proximity sensor 312, and the first lifting blocker 311 is controlled to rise and the pallet 4 is slowly stopped in front of the lens loading robot arm 2.

[0078] When the detection block 423 of the tray 4 moves to the position of the fourth proximity sensor 312, the controller sends an electrical signal to the first lifting blocker 311 and starts the first lifting blocker 311, and the piston rod of the cylinder extends to lift the damper. The piston rod of the damper abuts the front side of the chassis 43, slowly blocking the tray 4 and stopping the tray 4. The lens loading robot arm 2 sucks the lens and places it in the tray 4, and then the plasma cleaning head 23 cleans the glue coating point. After cleaning, the controller controls the piston rod of the first lifting blocker 311 to lower and release the tray 4.

[0079] A second pallet positioning mechanism is provided at the gluing section 32. The second pallet positioning mechanism includes a second lifting blocker 321 and a first pallet lifting platform 322, and is used to stop the pallet 4 in front of the gluing robot arm 5. The second lifting blocker 321 is provided at the front end of the first pallet lifting platform 322, so that the pallet 4 stops in front of the gluing robot arm 5, and the pallet 4 is lifted by the first pallet lifting platform 322 to position the pallet 4. A fifth proximity sensor 323 is provided on the outside of the top roller chain conveyor, next to the second lifting blocker 321. The fifth proximity sensor 323 is electrically connected to the controller, and the position of the detection block 423 is detected by the fifth proximity sensor 323. The second lifting blocker 321 is controlled to rise, so that the pallet 4 stops at the corresponding position, and then the pallet 4 is lifted by the first pallet lifting platform 322.

[0080] The pallet lifting platform includes a fixed frame 3051 fixedly installed between two top roller chain conveyors. The fixed frame 3051 is square, and a lifting cylinder 3052 is respectively provided at the four corners of the fixed frame 3051. The piston rod of the lifting cylinder 3052 is set vertically upward, and a positioning frame 3053 is provided on the piston rod. The size of the positioning frame 3053 matches the size of the chassis 43, and support blocks 3054 are provided at the four corners of the upper surface of the positioning frame 3053. The position of the support block 3054 matches the position of the pallet positioning block 433 and is supported below the pallet positioning block 433. A positioning pin 3055 is provided on the support block 3054 at least at the diagonal position. The positioning pin 3055 is inserted into the through hole of the pallet positioning block 433 to fix the position of the pallet 4. The height of the pallet lifting platform in the initial state is lower than the height of the top roller chain conveyor. When the piston rod of the lifting cylinder 3052 extends and lifts the positioning frame 3053, the pallet 4 is lifted and positioned from the first linear conveying mechanism 301 or the second linear conveying mechanism 303.

[0081] When the pallet 4 moves to the position of the fifth proximity sensor 323, the controller sends an electrical signal to the second lifting blocker 321 and starts the second lifting blocker 321. The piston rod of the second lifting blocker 321 extends and raises the damper. The piston rod of the damper abuts the front side of the chassis 43, slowly blocking the pallet 4 and stopping the pallet 4. The piston rod of the second lifting cylinder 3052 extends to lift the positioning frame 3053 to position the pallet 4. The gluing robot arm 5 applies glue at each gluing point along the preset motion trajectory, so that the glue is accurately applied at each gluing point. By lifting the pallet 4, the vibration caused by the relative movement between the bottom of the pallet 4 and the conveyor belt is reduced, thereby avoiding destroying the uniform distribution of glue. After the gluing is completed, the controller controls the piston rod of the second lifting cylinder 3052 to retract the pallet 4. At the same time, the piston rod of the second lifting blocker 321 is lowered to release the pallet 4, and the pallet 4 moves to the backplane assembly section 33.

[0082] A backboard flatness detection system 7 is provided next to the backboard assembly section 33 . The backboard flatness detection system 7 includes a backboard feeding robot 6 , a backboard feeding rack 71 , a detection rack 72 and a recovery rack 73 . A backboard loading robot 6 is positioned at the center of the inspection system 7 to grab and move the heliostat backboard. A backboard loading rack 71 is positioned at the input end of the inspection system 7, and the backboard loading robot 6 grabs the heliostat backboard from the backboard loading rack 71. The inspection rack 72 is provided with multiple through-holes that match the positions of the adhesive portions. Multiple cameras are positioned at the through-holes on the back of the inspection rack 72. The robot grabs the heliostat backboard and places it on the inspection rack 72. The adhesive portions are photographed, and the flatness of the backboard is then inspected by the flatness inspection system 7. Based on the flatness inspection results of the heliostat backboard, qualified heliostat backs are grabbed by the backboard loading robot 6 and moved to the tray 4. Unqualified heliostat backs are grabbed by the backboard loading robot 6 and moved to the recovery rack 73. A gripper is provided at the end of the backboard feeding robot arm 6, and a clamping mechanism is symmetrically provided in the gripper. The clamping mechanism grabs the backboard from a fixed point through a clamping rod driven by a plug-in column and a cylinder. The gripper structure of the backboard feeding robot arm 6 and the backboard flatness detection system 7 are existing technologies, which can be found in patent CN107283145B and will not be repeated here.

[0083] A third pallet positioning mechanism is installed in the backplane assembly section 33. It includes a third lift stopper 331 and a second pallet lift platform 332, which are used to stop the pallet 4 in front of the backplane loading robot 6. The third lift stopper 331 is located at the front end of the second pallet lift platform 332. A sixth proximity sensor 333 is located outside the first linear conveyor mechanism 301, next to the third lift stopper 331. This sixth proximity sensor 333 is electrically connected to the controller. The sixth proximity sensor 333 detects the position of the detection block 423, controlling the third lift stopper 331 to raise and slowly stop the pallet 4 in front of the backplane loading robot 6. The second pallet lift platform 332 lifts the pallet 4, positioning it. The backplane loading robot 6 then grabs a qualified heliostat backplane. Based on a pre-set motion path, the backplane loading robot 6 aligns the adhesive portion of the backplane with the gluing point and places it at the gluing point. By lifting the pallet 4, vibrations caused by the relative motion between the bottom of the pallet 4 and the conveyor belt are reduced, achieving precise assembly of the lens and backplane.

[0084] The back plate is provided with multiple adhesive portions, each having a certain inclination. The adhesive portion of the back plate as a whole has a curvature that matches the adjusting bolt 422 in the tray 4. The curvatures of the back plate, the lens, and the adjusting bolt 422 match, so that the heliostat formed by adhesive bonding has a concave mirror effect.

[0085] After the backplane assembly section 33, a first diverting conveyor mechanism 302 is installed to divert the pallet 4 and continue transporting the heliostats via the second linear conveyor mechanism 303. During transportation, the adhesive between the mirrors and the backplane solidifies. The input end of the first diverting conveyor mechanism 302 is aligned with the output end of the first linear conveyor mechanism 301, and the output end of the first diverting conveyor mechanism 302 is perpendicular to the second linear conveyor mechanism 303.

[0086] The pallet 4 is turned 90° by the first turning conveying mechanism 302 and is converted from horizontal transportation to longitudinal transportation. A first turning mechanism 34 is provided at the output end of the first turning conveying mechanism 302. The first turning mechanism 34 is located between the two top roller chains of the second linear conveying mechanism 303. The first turning mechanism 34 positions the pallet 4 turned by the first turning conveying mechanism 302 and moves vertically to the second linear conveying mechanism 303, thereby realizing a smooth transition from the first turning conveying mechanism 302 to the second linear conveying mechanism 303.

[0087] The first steering mechanism 34 includes a first base frame 341 fixedly mounted within the second linear conveyor 303. Third lifting cylinders 342 are installed at the four corners of the first base frame 341. A first pallet lift 343 is mounted on the piston rod of the third lifting cylinder 342. A first diverting conveyor belt 344 is installed within the first pallet lift 343. The first diverting conveyor belts 344 are positioned on opposite sides of the first pallet lift 343. The movement direction and speed of the first diverting conveyor belts 344 match the movement direction of the first diverting conveyor 302. The first diverting conveyor belts 344 are perpendicular to the second linear conveyor 303 and are driven by a sixth drive device to move the pallet 4 from the first diverting conveyor 302 to the first diverting conveyor belts 344. The first pallet lift 343 is initially positioned below the second linear conveyor 303. After being lifted by the third lifting cylinders 342, the first pallet lift 343 becomes flush with the first diverting conveyor 302.

[0088] A first stopper 345 is installed on the side of the first pallet lift 343 near the first diverting conveyor mechanism 302. The first stopper 345 is located between the two conveyor belts of the first diverting conveyor mechanism 34. The first stopper 345 is a damping-type stopper, with its piston rod facing the first diverting conveyor mechanism 302. A first stopper 346 is installed on the piston rod of the first stopper 345. The first stopper 346 is higher than the height of the first diverting conveyor belt 344 and serves to limit the travel distance of the pallet 4 within the first diverting conveyor mechanism 34. The first stopper 346 is installed in the offset groove 432 on the front side of the pallet 4. The first stopper 346 can pass through the offset groove 432 on the front side of the pallet 4 and block the pallet 4 from the inside, stopping it. First positioning walls 347 are installed on both sides of the first diverting conveyor belt 344. The first positioning walls 347 at the input end of the first diverting conveyor mechanism 344 are equipped with guiding slopes. The spacing between the first positioning walls 347 matches the spacing between the pallets 4, thus correcting and limiting the movement of the pallets 4.

[0089] After pallet 4 passes through the sixth proximity sensor 333, it sends an electrical signal to the controller, causing the piston rod of the third lift cylinder 342 to extend, lifting the first pallet lift frame 343 and simultaneously activating the first diverting conveyor belt 344. A seventh proximity sensor 348 is provided on the side of the second linear conveyor mechanism 303 away from the first diverting conveyor mechanism 302. When the detection block 423 of pallet 4 moves to the seventh proximity sensor 348, pallet 4 has completely moved onto the first diverting conveyor belt 344. The first stopper 346 stops pallet 4 from the inside. The controller stops the first diverting conveyor belt 344 and lowers the piston rod of the third lift cylinder 342, causing pallet 4 to descend into the second linear conveyor mechanism 303. Pallet 4 then moves laterally along the second linear conveyor mechanism 303.

[0090] After leaving the first steering mechanism 34, pallet 4 enters the primary curing section 35. Multiple fourth lift blockers 351 are equidistantly spaced in the primary curing section 35. Each fourth lift blocker 351 is located outside the second linear conveying mechanism 303, along with a corresponding eighth proximity sensor 352. When the detection block 423 of pallet 4 moves to the eighth proximity sensor 352, the piston rod of the fourth lift blocker 351 extends and raises the damper, which slowly stops pallet 4. When the subsequent pallet 4 arrives, the fourth lift blocker 351, through cascade control, sequentially releases the blockage on the preceding pallet 4 from front to back, allowing the pallets 4 to pass through. This extends the heliostat's stay in the primary curing section 35. The glue naturally cures during the slow transport through the primary curing section 35, improving the bond strength between the backplate and the lens.

[0091] The heliostat is then transported to the lens tray separation section 36, where a fourth pallet positioning mechanism is installed. This mechanism includes a third pallet lift 361 and a fifth lift stopper 362, which is used to stop pallet 4 in front of the material transfer robot 8. The fifth lift stopper 362 is located at the front end of the third pallet lift 361. A ninth proximity sensor 363 is located outside the second linear conveying mechanism 303, adjacent to the fifth lift stopper 362. The ninth proximity sensor 363 is electrically connected to a controller. The ninth proximity sensor 363 detects the position of the detection block 423, controlling the fifth lift stopper 362 to raise and slowly stop pallet 4 in front of the material transfer robot 8. The third pallet lift 361 then lifts pallet 4 to position it.

[0092] The material transfer robot 8 grabs the heliostat from the third pallet lift 361 at a fixed point and transports it to the secondary curing mechanism 9 with the lens facing upward. The lens moves within the secondary curing mechanism 9 and continues to cure the glue naturally. The heliostat's mirror surface faces upward, and its backplate is in direct contact with the secondary curing mechanism 9, maintaining the lens's concave curvature. After the material transfer robot 8 grabs the lens, the piston rod of the cylinder in the third pallet lift 361 descends, lowering the pallet 4 onto the second linear conveyor mechanism 303. Simultaneously, the piston rod of the fifth lift stopper 362 descends, releasing the pallet 4. The material transfer robot 8 has the same structure as the backplate loading robot 6. It moves the heliostat by grabbing its backplate. This structure is prior art and will not be further described here.

[0093] The pallet 4 moves along the second linear conveying mechanism 303 to the second steering mechanism 37. The second steering mechanism 37 is arranged between the two top roller chains of the second linear conveying mechanism 303 to turn the pallet 4. The second steering mechanism 37 includes a second base frame 371 fixedly installed in the second linear conveying mechanism 303. Fourth lifting cylinders 372 are arranged at the four corners of the second base frame 371. The piston rod of the fourth lifting cylinder 372 is provided with a second pallet lifting frame 373. A second steering conveyor belt 374 is provided in the second pallet lifting frame 373. The second steering conveyor belts 374 are arranged on both sides of the second pallet lifting frame 373. The movement direction and conveying speed of the second steering conveyor belt 374 match those of the second steering conveying mechanism 304. The movement direction is perpendicular to the second linear conveying mechanism 303. The pallet 4 is moved from the second linear conveying mechanism 303 to the second steering conveying mechanism 304 by the seventh drive device. A second stopper 375 is provided on the second pallet lifting frame 373. This second stopper 375 is a damping type stopper, located between the two top roller chain conveyors of the second linear conveyor mechanism 303. A second stopper 376 is provided on the piston rod of the second stopper 375. The stopper 376 is located in the offset groove 432 on the front side of the pallet 4. The piston rod of the second stopper 375 is positioned in the feed direction, limiting the movement of the pallet 4 in the second linear conveyor mechanism 303. Second positioning walls 377 are provided on both sides of the second diverting conveyor 374. The spacing between the first positioning walls 347 on both sides matches the side length of the chassis 43, limiting the position of the pallet 4. When the piston rod of the second stopper 375 is in a compressed state, the spacing between the second stopper 376 and the second positioning wall 377 matches the width of the frame-shaped chassis 43. When the pallet 4 is moved into position, the bottom frame of the pallet 4 is precisely positioned above the second diverting conveyor 374.

[0094] The fourth lifting cylinder 372 can be a conventional cylinder or a two-stroke cylinder. As a first embodiment of the second steering mechanism 37, the fourth lifting cylinder 372 is a conventional cylinder. When the second pallet lifting frame 373 is at its initial height, the second diverting conveyor belt 374 is lower than the second linear conveyor mechanism 303, and the second stopper 376 is higher than the second linear conveyor mechanism 303. When the second pallet lifting frame 373 is at its second height, the second diverting conveyor belt 374 is flush with the second diverting conveyor mechanism 304. At the front end of the second turning conveyor belt 374, a tenth proximity sensor 378 is provided on the outside of the second linear conveying mechanism 303. The tenth proximity sensor 378 is electrically connected to the controller. When the tenth proximity sensor 378 detects the sensing block 423 located on the front side of the pallet 4, it sends an electrical signal to the controller to control the fourth lifting cylinder 372 to raise the second pallet lifting frame 373 to the second height. Then the seventh drive device drives the second turning conveyor belt 374 to transfer the pallet 4 to the second turning conveying mechanism 304. When the second turning conveyor belt 374 turns the pallet 4, the second stop block 376 avoids collision with the chassis 43 due to the give way groove 431 provided at the bottom of the pallet 4.

[0095] As a second embodiment of the second steering mechanism 37, the fourth lifting cylinder 372 is a two-stroke cylinder. A solenoid valve controls the flow of compressed air through different inlet and outlet ports, resulting in different strokes for the piston rod. The second pallet lift 373 has three heights: at its initial height, the second stopper 376 is lower than the second linear conveyor 303; at its second height, the second steering conveyor 374 is lower than the second linear conveyor 303, while the second stopper 376 is higher than the second linear conveyor 303; and at its third height, the second steering conveyor 374 is flush with the second steering conveyor 304. The lengthwise distance between the ninth proximity sensor 363 and the second blocker 375 is between the distance from the detection block 423 to the front end of the chassis 43 and the distance from the detection block 423 to the rear end of the chassis 43. When the sensing block 423 on the rear side of the tray 4 passes the ninth proximity sensor 363, the second blocker 375 is just located in the inner frame of the chassis 43. After the ninth proximity sensor 363 senses the passing of the detection block 423, it sends an electrical signal to the controller to control the fourth lifting cylinder 372 to raise the second pallet lifting frame 373 to the second height, thereby stopping the tray 4 from the inside. At the front end of the second turning conveyor belt 374, a tenth proximity sensor 378 is provided on the outside of the second linear conveying mechanism 303. The tenth proximity sensor 378 is electrically connected to the controller. When the tenth proximity sensor 378 detects the sensing block 423 located on the front side of the pallet 4, it sends an electrical signal to the controller to control the fourth lifting cylinder 372 to raise the second pallet lifting frame 373 to the third height. Then the seventh drive device drives the second turning conveyor belt 374 to transfer the pallet 4 to the second turning conveying mechanism 304. When the second turning conveyor belt 374 turns the pallet 4, the second stop block 376 avoids collision with the chassis 43 due to the give way groove 431 at the bottom of the pallet 4.

[0096] The second diverting conveyor mechanism 304 turns the tray 4 90 degrees, converting it from longitudinal to transverse transport and moving it to the lens loading section 31. The tray 4 completes a circular transport cycle through the first linear conveyor mechanism 301, the first diverting conveyor mechanism 302, the second linear conveyor mechanism 303, and the second diverting conveyor mechanism 304.

[0097] The secondary curing mechanism 9 comprises a double-layer frame 91 and a lifting frame 92. A third linear conveyor mechanism 911 and a fourth linear conveyor mechanism 912 are located within the double-layer frame 91. These mechanisms utilize top-roller chain conveyors. The third and fourth linear conveyors 911 and 912 continuously move in opposite directions, driven by an eighth and ninth drive mechanism, respectively. As will be appreciated, the third linear conveyor mechanism 911 moves toward the lifting frame 92, transporting the heliostats thereto, while the fourth linear conveyor mechanism 912 moves away from the lifting frame 92, transporting the heliostats to the unloading section. Preferably, the third linear conveyor mechanism 911 is located on the upper level, while the fourth linear conveyor mechanism 912 is located on the lower level. The heliostat is grasped by the material transfer robot 8 and moved to the third linear conveyor mechanism 911. A double-layer conveyor belt design prolongs the cooling time of the heliostat within a limited space. The heliostat passes through the third linear conveyor mechanism 911, the horizontal material transfer mechanism 923, and the fourth linear conveyor mechanism 912, allowing the adhesive applied between the heliostat backplate and the lens to fully cure. The fourth linear conveyor mechanism 912 then transports the heliostat back to the material transfer robot 8, which grabs the lens at a fixed point and places it in the unloading mechanism 10.

[0098] The lifting frame 92 includes an outer frame 921, a vertical material moving mechanism 922 vertically disposed in the outer frame 921, and a horizontal material moving mechanism 923 horizontally mounted in the vertical material moving mechanism 922. The vertical material moving mechanism 922 is fixedly mounted on the side of the outer frame 921 away from the lifting frame 92. The vertical material moving mechanism 922 includes a pneumatic slide 9221 and positioning slides 9223 disposed on both sides of the pneumatic slide 9221. The horizontal material moving mechanism 923 includes a base 9231, which is connected to the pneumatic slide 9221 and the positioning slide 9223. A plurality of horizontal support rods 9232 are disposed on the base 9231, and a material moving conveyor belt 9233 is disposed on the horizontal support rods 9232.

[0099] Each positioning rail 9223 is provided with two positioning sliders 9224, and the side walls of the two positioning sliders 9224 are connected to a fixed plate 9225. The pneumatic rail 9221 is arranged toward the double-layer rack 91, and a pneumatic slider 9222 is provided in the pneumatic rail 9221. The rear end of the base 9231 is fixedly connected to the pneumatic slider 9222 and the fixed plate 9225. The pneumatic rail 9221 moves the horizontal material shifting mechanism 923 up and down under the control of the control valve. The positioning rail 9223 and the positioning slider 9224 provide support for the movement of the horizontal material shifting mechanism 923 and distribute the load. At the same time, the dual sliders are used to further distribute the load of the horizontal material shifting mechanism 923 on the positioning rail 9223, thereby avoiding overload and extending the service life of the equipment.

[0100] The transfer conveyor 9233 utilizes a top roller chain conveyor. Driven by the tenth drive unit in either forward or reverse rotation, it moves the heliostats from the third linear conveyor mechanism 911 onto the transfer conveyor 9233, or from the transfer conveyor 9233 to the fourth linear conveyor mechanism 912. The front end of the transfer conveyor 9233 is interlaced with the third and fourth linear conveyor mechanisms 911, 912. When the pneumatic slide rail 9221 drives the transfer conveyor 9233 to its top and bottom positions, it aligns with the third and fourth linear conveyor mechanisms 911, 912, respectively. The speed of the transfer conveyor 9233 matches that of the third and fourth linear conveyor mechanisms 911, 912. The heliostats can be smoothly moved from the third linear conveyor mechanism 911 to the horizontal transfer mechanism 923, or from the horizontal transfer mechanism 923 to the fourth linear conveyor mechanism 912. An eleventh proximity sensor 9234 is provided in the material transfer conveyor belt 9233. The eleventh proximity sensor 9234 is vertically upwardly arranged and electrically connected to the controller. When the heliostat moves above the eleventh proximity sensor 9234 and the eleventh proximity sensor 9234 detects the heliostat, the controller controls the material transfer conveyor belt 9233 to stop and then controls the pneumatic slide rail 9221 to lower the material transfer conveyor belt 9233.

[0101] A support column 924 is provided at the bottom front side of the outer frame 921. A rubber shock-absorbing block 925 is provided on the support column 924. The rubber shock-absorbing block 925 can be abutted against the bottom of the base 9231 to prevent the heliostat from shifting due to vibration when the horizontal material shifting mechanism 923 moves to the bottom.

[0102] Guide mechanisms 913 are provided on both sides of the end of the fourth linear conveyor mechanism 912 to correct the heliostat's deviation and adjust its posture, enabling the material transfer robot 8 to grasp the heliostat from a fixed point and move it to the unloading mechanism 10. The guide mechanism 913 includes a guide wall 9131, a rotation cylinder 9132, and a twelfth proximity sensor 915. The guide wall 9131 is fixedly mounted in the fourth linear conveyor mechanism 912 via multiple right-angle connectors. The guide wall 9131 includes an inclined guide section and a linear limit section. The guide section of the guide wall 9131 bends inward on both sides. The rotation cylinder 9132 is provided on the inner side of the guide wall 9131, located at the bend of the guide wall 9131. The guide wall 9131 and the rotation cylinder 9132 are used to guide and correct the heliostat's deviation. A rotating rod 9133 is provided at the end of the piston rod of the rotation cylinder 9132. The rotating rod 9133 is located at the bend of the guide wall 9131. In the initial state of the rotation cylinder 9132, the rotating rod 9133 is in a horizontal position, at which time the heliostat can pass normally. When the piston rod of the rotation cylinder 9132 is extended, the rotating rod 9133 rotates 90 degrees and becomes vertically upward. The rotating rod 9133 abuts the front side of the heliostat back plate, leveling the heliostat. A twelfth proximity sensor 915 is disposed on the inclined guide section of the guide wall 9131. The twelfth proximity sensor 915 is disposed vertically upward and is electrically connected to the controller. When the heliostat moves above the twelfth proximity sensor 915 and detects the heliostat, the controller controls the piston rod of the angular cylinder 9132 to extend and abut against the front side of the heliostat's back plate. After adjustment is complete, the piston rod of the angular cylinder 9132 is retracted, and the rotating rod 9133 is rotated to a horizontal position to release the heliostat.

[0103] A limit block 914 is provided at the end of the fourth linear conveyor mechanism 912. When a heliostat moves to the end of the fourth linear conveyor mechanism 912, the contact side of the limit block 914 with the heliostat is protected by a flexible protective layer, such as rubber, on the sidewall of the limit block 914 to prevent damage to the heliostat's backplate from colliding with the limit block. A thirteenth proximity sensor 916 is positioned at the limit block 914. This sensor is positioned vertically upward and electrically connected to a controller. When a heliostat moves above the thirteenth proximity sensor 916 and detects the heliostat, the controller controls the material transfer robot 8 to grab the heliostat and move it to the unloading mechanism 10. A staff member collects the assembled heliostat at the end of the unloading mechanism 10.

[0104] The automatic assembly method of heliostat is:

[0105] S1: Place the lens on the feed end of the flip frame 113. The flip frame 113 flips over and onto the lens conveying mechanism 12. The lens conveying mechanism 12 moves the lens to the lens positioning mechanism 13. The lens positioning mechanism 13 lifts the heliostat and adjusts and fixes the lens position through the longitudinal positioning cylinder 1333 and the transverse positioning cylinder 1334.

[0106] S2: The lens loading robot 2 grabs the lens at a fixed point and places it with the back side facing up on the tray 4 stopped by the first lifting blocker 311. The piston rod of the slide cylinder 25 extends, allowing the plasma cleaning head 23 to approach the lens. The lens loading robot 2 cleans the glue coating point on the back side of the lens along the preset motion trajectory. The first lifting blocker 311 is lowered to release the tray 4.

[0107] S3: Driven by the first linear conveying mechanism 301, the tray 4 moves to the front of the gluing robot arm 5. The second lifting stopper 321 stops the tray 4. The first tray lifting platform 322 lifts and positions the tray 4. The gluing robot arm 5 applies glue at the gluing point of the lens along the preset trajectory. The second lifting stopper 321 and the first tray lifting platform 322 lower to release the tray 4.

[0108] S4: Driven by the first linear conveying mechanism 301, the tray 4 moves in front of the backboard loading robot arm 6. The third lifting stopper 331 stops the tray 4. The second tray lifting platform 332 lifts and positions the tray 4. The backboard loading robot arm 6 grabs the heliostat backboard and aligns the adhesive portion with the gluing point, placing it on the lens. The third lifting stopper 331 and the second tray lifting platform 332 lower to release the tray 4.

[0109] S5: The tray 4 moves from the first linear conveying mechanism 301 to the first diverting conveying mechanism 302. The first diverting conveyor belt 344 rises to be flush with the first diverting conveying mechanism 302 and rotates synchronously with the first diverting conveying mechanism 302. The tray 4 rotates 90° through the first diverting conveying mechanism 302 and moves to the first diverting mechanism 34. After the first stopper 345 stops the tray 4, the first diverting conveyor belt 344 descends, transferring the tray 4 to the second linear conveying mechanism 303.

[0110] S6: The tray 4 moves under the drive of the second linear conveying mechanism 303. The fourth lifting blockers 351 of the plurality of second linear conveying mechanisms 303 use a cascade control method to stop and release the tray 4 in sequence, and release the blockage of the front tray 4 in sequence from front to back.

[0111] S7: The fifth lifting stopper 362 stops pallet 4, and the third pallet lifting platform 361 lifts and positions pallet 4. The material transfer robot 8 grabs the heliostat in pallet 4, flips it over so that the front of the heliostat faces upward, and places it on the third linear conveyor mechanism 911. After the heliostat is removed, the fifth lifting stopper 362 and the third pallet lifting platform 361 are lowered to release pallet 4.

[0112] S7.1: Driven by the second linear conveyor mechanism 303, the tray 4 moves to the second deflection mechanism 37. After the second stopper 375 stops the tray 4, the second deflection conveyor belt 374 rises to be flush with the second deflection conveyor mechanism 304 and rotates synchronously with the second deflection conveyor mechanism 304, causing the tray 4 to transfer to the second deflection conveyor mechanism 304. The tray 4 then rotates 90° through the second deflection conveyor mechanism 304 to the first linear conveyor mechanism 301, where it is stopped by the first lifting stopper 311.

[0113] S8: The heliostat moves driven by the third linear conveying mechanism 911. The horizontal material moving mechanism 923 in the lifting frame 92 is aligned with the third linear conveying mechanism 911 and rotates synchronously with the third linear conveying mechanism 911. The heliostat moves from the third linear conveying mechanism 911 to the lifting frame 92. Then, the horizontal material moving mechanism 923 moves vertically until it is aligned with the fourth linear conveying mechanism 912 and moves synchronously with the fourth linear conveying mechanism 912. Driven by the fourth linear conveying mechanism 912, the heliostat moves to the guide mechanism 913. After the guide mechanism 913 corrects the deviation and adjusts the posture, it is stopped by the limit block 914.

[0114] S9 : the material transfer robot 8 grabs the heliostat and moves it to the unloading mechanism 10 , and collects the heliostat at the end of the unloading mechanism 10 .

[0115] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A heliostat automatic assembly system, characterized in that: The invention comprises a circulating conveying system (3), wherein a plurality of circulating transport trays (4) are provided on the circulating conveying system (3), and a lens loading robot arm (2), a gluing robot arm (5), a back plate loading robot arm (6) and a material moving robot arm (8) are sequentially provided along the circulating conveying system (3) according to the transport path of the trays (4); A lens loading mechanism (1) is provided next to the lens loading robot arm (2), and the lens loading mechanism (1) is an input end of the lens. The lens loading robot arm (2) adsorbs the lens from the lens loading mechanism (1) to the tray (4) with the back side facing upwards; The glue coating mechanical arm (5) is used to apply glue at the glue coating points on the back of the lens; The back plate loading robot (6) is used to grab the heliostat back plate, align the adhesive portion of the heliostat back plate with the glue application point and place it on the lens; A material removal mechanism (10) is provided next to the material transfer robot arm (8), and the material transfer robot arm (8) removes the heliostat from the tray (4); The circulating conveying system (3) is provided with a first pallet positioning mechanism (311), a second pallet positioning mechanism (322), a third pallet positioning mechanism (332) and a fourth pallet positioning mechanism (361) in sequence, and the pallet (4) is stopped in front of the lens loading robot arm (2), the gluing robot arm (5), the back plate loading robot arm (6) and the material transfer robot arm (8), respectively.

2. The heliostat automatic assembly system according to claim 1, characterized in that: The tray (4) comprises a tray body (41), a bearing surface (42) arranged on the tray body (41) and a bottom plate (43) arranged at the bottom of the tray body (41), corner positioning blocks (421) are arranged at the four corners of the bearing surface (42), and the bearing surface (42) is provided with a plurality of adjusting bolts (422) arranged in a circle with a center of the bearing surface (42) as the center of the circle and distributed on the circumference of different radii, and the height of the nut of the adjusting bolt (422) decreases in sequence with the increase of the radius of the circumference; the bearing surface (42) is provided with a plurality of adjusting bolts (422) arranged in a circle with a center of the bearing surface (42) as the center of the circle, and the height of the nut of the adjusting bolt (422) decreases in sequence with the increase of the radius of the circumference; 2) is symmetrically provided with an inverted detection block (423) at the bottom, and an anti-collision block (424) is provided on the outside of the detection block (423); the chassis (43) is a square frame structure, and each side of the chassis (43) is provided with a centrally symmetrical dislocation groove (432), and the dislocation grooves (432) on the opposite sides are staggered, and the four corners of the chassis (43) are provided with a clearance groove (431); the bottom of the tray body (41) is provided with a tray positioning block (433), and a groove is provided in the tray positioning block (433).

3. The heliostat automatic assembly system according to claim 2, characterized in that: The circulating conveying system (3) comprises a first linear conveying mechanism (301), a first steering conveying mechanism (302), a second linear conveying mechanism (303) and a second steering conveying mechanism (304) connected in sequence, wherein the first steering conveying mechanism (302) and the second steering conveying mechanism (304) are 90° roller conveyor belts, the input end of the first steering conveying mechanism (302) is connected to the output end of the first linear conveying mechanism (301), the output end of the first steering conveying mechanism (302) is perpendicular to the second linear conveying mechanism (303), and the input end of the second steering conveying mechanism (304) is perpendicular to the second linear conveying mechanism (303). The conveying mechanism (303) is provided with a first steering mechanism (34) and a second steering mechanism (37) at the connection between the second linear conveying mechanism (303), the first steering conveying mechanism (302) and the second steering conveying mechanism (304), respectively. The plane where the first linear conveying mechanism (301), the first steering conveying mechanism (302) and the second steering conveying mechanism (304) are located is located on a first plane, and the plane where the second steering conveying mechanism (304) is located is located on a second plane, and the second plane is lower than the first plane.

4. The heliostat automatic assembly system according to claim 3, characterized in that: The first steering mechanism (34) includes a first base frame (341) fixedly mounted in the second linear conveying mechanism (303); a third lifting cylinder (342) with a piston rod pointing vertically upward is provided in the first base frame (341); a first pallet lifting frame (343) is provided on the piston rod of the third lifting cylinder (342); a first steering conveyor belt (344) matching the movement direction of the first steering conveying mechanism (302) is provided in the second pallet lifting frame (343); a first blocker (345) is provided on the side of the first pallet lifting frame (343) close to the first steering conveying mechanism (302); the first blocker (345) is provided at the dislocation groove (432) on the front side of the pallet (4); The second steering mechanism (37) includes a second base frame (371) fixedly installed in the second linear conveying mechanism (303), a fourth lifting cylinder (372) with a piston rod pointing vertically upward is provided in the second base frame (371), a second pallet lifting frame (373) is provided on the piston rod of the fourth lifting cylinder (372), a second steering conveyor belt (374) matching the movement direction of the second steering conveying mechanism (304) is provided in the second pallet lifting frame (373), and a second blocker (375) is provided in the second pallet lifting frame (373).

5. The heliostat automatic assembly system according to claim 1, characterized in that: The lens feeding mechanism (1) comprises a flipping mechanism (11) arranged at a feeding end, a lens conveying mechanism (12), and a lens positioning mechanism (13) arranged in the lens conveying mechanism (12); the flipping mechanism (11) comprises a first frame (111), a flipping frame (113) hinged on the first frame (111), and a flipping cylinder (112) arranged in the first frame (111); a piston rod of the flipping cylinder (112) is hinged to the flipping frame (113), and the lens placed in the flipping mechanism (11) is rotated. The lens is transported to a lens conveying mechanism (12); the lens conveying mechanism (12) is provided with a plurality of conveyor belts arranged at intervals; the lens positioning mechanism (13) includes a first lifting cylinder (132) and a lens lifting frame (133) arranged on the first lifting cylinder (132); the lens lifting frame (133) is provided with a plurality of support frames (1335) arranged in an interlaced manner with the conveyor belts; and the lens lifting frame (133) is provided with a horizontal positioning cylinder (1334) and a vertical positioning cylinder (1333) on at least two adjacent sides.

6. The heliostat automatic assembly system according to claim 2, characterized in that: The first pallet positioning mechanism (311) is a lifting blocker, and the second pallet positioning mechanism (322), the third pallet positioning mechanism (332) and the fourth pallet positioning mechanism (361) all include a lifting blocker and a pallet lifting platform (305), wherein the lifting blocker is arranged at the front end of the pallet lifting platform (305), and the pallet lifting platform (305) includes a fixing frame (3051), wherein a second lifting cylinder (3052) is arranged in the fixing frame (3051), and a piston rod of the second lifting cylinder (3052) is arranged vertically upward, and a positioning frame (3053) is arranged on the piston rod, and a support block (3054) matching the position of the pallet positioning block (433) is arranged on the upper surface of the positioning frame (3053), and a positioning pin (3055) is arranged on at least the diagonal support block (3054).

7. The heliostat automatic assembly system according to claim 1, characterized in that: A mounting frame (21) is provided at the gripper of the lens loading robot arm (2), and a plurality of suction cups (22) connected to a vacuum generator through pipelines are provided in the mounting frame (21). A vertical plate (24) is provided at the front end of the mounting frame (21), and a slide cylinder (25) is provided on the front side of the vertical plate (24). The piston rod of the slide cylinder (25) is provided downward, and a plasma cleaning head (23) is provided in the slide of the side wall of the slide cylinder (25).

8. The heliostat automatic assembly system according to claim 3, characterized in that: A primary curing section (35) is provided between the first steering mechanism (34) and the fourth pallet positioning mechanism (361), and a plurality of fourth lifting blockers (351) are provided at equal intervals in the primary curing section (35).

9. The heliostat automatic assembly system according to claim 3, characterized in that: A secondary curing mechanism (9) is provided next to the second linear conveying mechanism (303), the secondary curing mechanism (9) comprising a double-layer frame (91) and a lifting frame (92), the double-layer frame (91) comprising a third linear conveying mechanism (911) and a fourth linear conveying mechanism (912), the movement direction of the third linear conveying mechanism (911) being toward the lifting frame (92), the movement direction of the fourth linear conveying mechanism (912) being away from the lifting frame (92), and the end of the fourth linear conveying mechanism (912) being provided with a guide mechanism (913) and a limit block (914); the lifting frame (92) comprising an outer frame (921), a vertical material moving mechanism (922) provided in the outer frame (921), and a horizontal material moving mechanism (923) installed in the vertical material moving mechanism (922).

10. A heliostat automatic assembly method, characterized in that: include: S1: The lens is placed on the feeding end of the flip frame (113), the flip frame (113) is flipped onto the lens conveying mechanism (12), and the lens is moved to the lens positioning mechanism (13) through the lens conveying mechanism (12). The lens positioning mechanism (13) lifts the heliostat and adjusts and fixes the lens position through the longitudinal positioning cylinder (1333) and the transverse positioning cylinder (1334). S2: The lens loading robot (2) grabs the lens at a fixed point and places the lens with the back side facing upward on the tray (4) stopped by the first lifting blocker (311). The piston rod of the slide cylinder (25) extends to make the plasma cleaning head (23) approach the lens. The lens loading robot (2) cleans the glue coating point on the back side of the lens along a preset motion trajectory. The first lifting blocker (311) is lowered to release the tray (4); S3: The tray (4) is driven by the first linear conveying mechanism (301) to move in front of the gluing robot arm (5), the second lifting blocker (321) stops the tray (4), the first tray lifting platform (322) lifts and positions the tray (4), the gluing robot arm (5) applies glue at the gluing point of the lens along a preset trajectory, and the second lifting blocker (321) and the first tray lifting platform (322) are lowered to release the tray (4); S4: The tray (4) is driven by the first linear conveying mechanism (301) and moves to the front of the back plate loading robot arm (6). The third lifting blocker (331) stops the tray (4). The second tray lifting platform (332) lifts and positions the tray (4). The back plate loading robot arm (6) grabs the heliostat back plate and aligns the adhesive portion with the glue application point and places it on the lens. The third lifting blocker (331) and the second tray lifting platform (332) are lowered to release the tray (4). S5: The tray (4) moves from the first linear conveying mechanism (301) to the first steering conveying mechanism (302), the first steering conveyor belt (344) rises to be flush with the first steering conveying mechanism (302), and rotates synchronously with the first steering conveying mechanism (302), the tray (4) rotates 90 degrees through the first steering conveying mechanism (302) and moves to the first steering mechanism (34), the first stopper (345) stops the tray (4), and the first steering conveyor belt (344) is lowered, and the tray (4) is transferred to the second linear conveying mechanism (303); S6: The tray (4) moves under the drive of the second linear conveying mechanism (303), and the fourth lifting blockers (351) in the plurality of second linear conveying mechanisms (303) sequentially block and release the trays (4) through a cascade control method, and sequentially release the blockage of the front tray (4) from the front to the back; S7: The fifth lifting blocker (362) blocks the pallet (4), the third pallet lifting platform (361) lifts and positions the pallet (4), the material transfer robot (8) grabs the heliostat in the pallet (4), flips the heliostat so that the front of the heliostat faces upward and places it on the third linear conveying mechanism (911), after removing the heliostat, the fifth lifting blocker (362) and the third pallet lifting platform (361) are lowered to release the pallet (4); S7.1: The tray (4) is driven by the second linear conveying mechanism (303) to move to the second steering mechanism (37). After the second stopper (375) stops the tray (4), the second steering conveyor belt (374) rises to be flush with the second steering conveying mechanism (304) and rotates synchronously with the second steering conveying mechanism (304), so that the tray (4) is transferred to the second steering conveying mechanism (304). The tray (4) is rotated 90° through the second steering conveying mechanism (304) to the first linear conveying mechanism (301) and is stopped by the first lifting stopper (311); S8: The heliostat moves under the drive of the third linear conveying mechanism (911), the horizontal material moving mechanism (923) in the lifting frame (92) is aligned with the third linear conveying mechanism (911) and rotates synchronously with the third linear conveying mechanism (911), the heliostat moves from the third linear conveying mechanism (911) to the lifting frame (92), and then the horizontal material moving mechanism (923) moves vertically to be aligned with the fourth linear conveying mechanism (912) and moves synchronously with the fourth linear conveying mechanism (912), the heliostat moves to the guide mechanism (913) under the drive of the fourth linear conveying mechanism (912), and is stopped by the limit block (914) after being corrected and adjusted by the guide mechanism (913); S9, the material transfer robot (8) grabs the heliostat and moves it to the unloading mechanism (10).

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