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] This invention relates to the field of heliostat technology and provides an automatic heliostat assembly system. Background Technology

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

[0003] Heliostat fields typically consist of thousands of heliostats arranged in a ring or matrix to reflect sunlight onto the solar collector. Due to the large-scale assembly requirements of heliostats, production relies on manual labor. Each heliostat requires frequent handling of parts and process changes, with nearly a hundred connection points, resulting in a large amount of repetitive work. This not only makes it difficult to guarantee the assembly accuracy of heliostats but also leads to low efficiency and long construction periods. Especially in high-altitude, desert, and arid regions where the annual direct radiation (DNI) exceeds 2000 kWh / m², the large amount of manpower and high scrap rate will result in even greater cost input. Summary of the Invention

[0004] To address the problems of low automation and high production costs of heliostats in the prior art, the first objective of this invention is to provide an automatic assembly system for heliostats, including a circulating conveying system. The circulating conveying system is equipped with multiple circulating transport trays, and a lens loading robot arm, an adhesive coating robot arm, a backplate loading robot arm, and a material transfer robot arm are sequentially arranged along the circulating conveying system according to the transport path of the trays.

[0005] Next to the lens loading robot arm is a lens loading mechanism, which is the input end of the lens. The lens loading robot arm picks up the lens from the lens loading mechanism with the back side facing up and puts it into the tray.

[0006] The adhesive-applying robotic arm is used to apply adhesive at the adhesive application points on the back of the lens.

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

[0008] A material unloading mechanism is provided next to the material transfer robot arm, which removes the heliostat from the tray.

[0009] The circulating conveying system is sequentially equipped with a first pallet positioning mechanism, a second pallet positioning mechanism, a third pallet positioning mechanism, and a fourth pallet positioning mechanism, which respectively stop the pallets in front of the lens loading robot arm, the glue coating robot arm, the backplate loading robot arm, and the material transfer robot arm.

[0010] Specifically, the tray includes a tray body, a bearing surface on the tray body, and a base plate at the bottom of the tray body. Corner positioning blocks are provided at the four corners of the bearing surface. Multiple adjusting bolts are arranged circumferentially on the bearing surface with the center of the bearing surface as the center, and the height of the nuts of the adjusting bolts decreases sequentially with the increase of the radius of their respective circles. Inverted detection blocks are symmetrically arranged at the bottom of the bearing surface, and anti-collision blocks are provided on the outer side of the detection blocks. The base plate is a square frame structure, and each side of the base plate is provided with a centrally symmetrical staggered groove, with opposite sides having staggered staggered staggered grooves. Clearance grooves are provided at the four corners of the base plate. A tray positioning block is provided at the bottom of the tray body, and the tray positioning block has a groove.

[0011] Specifically, the circulating conveying system includes a first linear conveying mechanism, a first steering conveying mechanism, a second linear 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 linear conveying mechanism. The output end of the first steering conveying mechanism is perpendicular to the second linear conveying mechanism. The input end of the second steering conveying mechanism is perpendicular to the second linear conveying mechanism. The output end of the second steering conveying mechanism is connected to the input end of the first linear conveying mechanism. A first steering mechanism and a second steering mechanism are respectively provided at the connection between the second linear conveying mechanism and the first and second steering conveying mechanisms. The planes on which the first linear conveying mechanism, the first steering conveying mechanism, and the second steering conveying mechanism are located are located on a first plane. The plane on which the second steering conveying mechanism is located is located on a second plane. 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. The first base frame is provided with a third lifting cylinder with a piston rod pointing vertically upward. A first pallet lifting frame is provided on the piston rod of the third lifting cylinder. The second pallet lifting frame is provided with a first steering conveyor belt that matches the movement direction of the first steering conveying mechanism. A first stopper is provided on the side of the first pallet lifting frame near the first steering conveying mechanism. The first stopper is located in the misalignment 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. The second base frame is provided with a fourth lifting cylinder with a piston rod pointing vertically upward. A second pallet lifting frame is provided on the piston rod of the fourth lifting cylinder. The second pallet lifting frame is provided with a second steering conveyor belt that matches the movement direction of the second steering conveying mechanism. A second stopper is provided in the second pallet lifting frame.

[0014] Specifically, the lens loading mechanism includes a flipping mechanism, a lens conveying mechanism, and a lens positioning mechanism in the lens conveying mechanism, all located at the loading end. The flipping mechanism includes a first frame, a flipping frame hinged to the first frame, and a flipping cylinder in the first frame. The piston rod of the flipping cylinder is hinged to the flipping frame to transfer the lens placed in the flipping mechanism to the lens conveying mechanism. The lens conveying mechanism has multiple conveyor belts spaced apart. The lens positioning mechanism includes a first lifting cylinder and a lens lifting frame on the first lifting cylinder. The lens lifting frame has multiple support frames that intersect with the conveyor belts. The lens lifting frame has transverse positioning cylinders and longitudinal positioning cylinders on at least two adjacent sides.

[0015] Specifically, the first pallet positioning mechanism is a lifting stopper, and the second, third and fourth pallet positioning mechanisms all include a lifting stopper and a pallet lifting platform. The lifting stopper is located at the front end of the pallet lifting platform, and the pallet lifting platform includes a fixed frame. A second lifting cylinder is installed in the fixed frame. The piston rod of the second lifting cylinder is vertically upward, and a positioning frame is installed on the piston rod. The upper surface of the positioning frame is provided with a support block that matches the position of the pallet positioning block, and a positioning pin is provided on at least the diagonally opposite support block.

[0016] Specifically, the gripper of the lens loading robot arm is equipped with a mounting frame, which contains multiple suction cups connected to a vacuum generator via pipes. 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 positioned downwards, 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 multiple fourth lifting stoppers are evenly arranged in the primary curing section.

[0018] Specifically, a secondary curing mechanism is provided next to the second linear conveying mechanism. 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 towards the lifting frame, and the movement direction of the fourth linear conveying mechanism is away from the lifting frame. A guide mechanism and a limiting block are provided at the end of the fourth linear conveying mechanism. The lifting frame includes an outer frame, a vertical material transfer mechanism provided in the outer frame, and a horizontal material transfer mechanism installed in the vertical material transfer mechanism.

[0019] The second objective of this invention is to provide an automatic assembly method for heliostats, comprising:

[0020] S1: Place the lens at the feed end of the flipping frame, flip the frame to the lens conveying mechanism, and move the lens to the lens positioning mechanism via 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 arm picks up the lens at a fixed point and places the lens with the back side facing up on the tray that is blocked by the first lifting stop. The piston rod of the slide cylinder extends to bring the plasma cleaning head close to the lens. The lens loading robot arm cleans the adhesive points on the back of the lens along the preset motion trajectory. The first lifting stop lowers to release the tray.

[0022] S3: Driven by the first linear conveyor, the tray moves to the front of the glue-applying robot arm. The second lifting stop stops the tray, the first tray lifting platform raises the tray and positions it, the glue-applying robot arm applies glue at the glue-applying point of the lens along the preset trajectory, and the second lifting stop and the first tray lifting platform lower to release the tray.

[0023] S4: Driven by the first linear conveyor, the pallet moves to the front of the back plate loading robot arm. The third lifting stop stops the pallet, the second pallet lifting platform lifts the pallet and positions it. The back plate loading robot arm grabs the heliostat back plate and aligns the adhesive part with the glue application point and places it on the lens. The third lifting stop and the second pallet lifting platform lower to release the pallet.

[0024] S5: The pallet moves from the first linear conveyor to the first steering conveyor. The first steering conveyor belt rises to be level with the first steering conveyor and rotates synchronously with the first steering conveyor. The pallet rotates 90° through the first steering conveyor and moves onto the first steering mechanism. After the first stopper stops the pallet, the first steering conveyor belt descends and turns the pallet into the second linear conveyor.

[0025] S6: The pallet moves under the drive of the second linear conveyor mechanism. The fourth lifting stopper in the multiple second linear conveyor mechanisms stops and releases the pallet in sequence through cascade control, and releases the obstruction of the pallet in front in sequence from front to back.

[0026] S7: The fifth lifting stopper stops the pallet, the third pallet lifting platform raises and positions the pallet, the material transfer robot grabs the heliostat in the pallet, flips the heliostat so that the heliostat is facing up and places it on the third linear conveyor mechanism, and after the heliostat is removed, the fifth lifting stopper and the third pallet lifting platform lower to release the pallet.

[0027] S7.1: Driven by the second linear conveyor mechanism, the pallet moves to the second steering mechanism. After the second stopper stops the pallet, the second steering conveyor belt rises to be level with the second steering conveyor mechanism and rotates synchronously with the second steering conveyor mechanism, so that the pallet is turned into the second steering conveyor mechanism. The pallet is rotated 90° by the second steering conveyor mechanism into the first linear conveyor mechanism and is stopped by the first lifting stopper.

[0028] S8: The heliostat moves under the drive of the third linear conveyor mechanism. The horizontal material transfer mechanism in the lifting frame is aligned with the third linear conveyor mechanism and rotates synchronously with it. The heliostat moves from the third linear conveyor mechanism to the lifting frame. Then the horizontal material transfer mechanism moves vertically to be aligned with the fourth linear conveyor mechanism and moves synchronously with it. The heliostat moves to the guide mechanism under the drive of the fourth linear conveyor mechanism. After the guide mechanism corrects the deviation and adjusts the posture, it is stopped by the limit block.

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

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. Based on a modular design concept, this invention provides an automated assembly production line with a small footprint, eliminating the need for specialized customized factory buildings. The entire production line occupies only 600 square meters. 2 , compared to the current approximately 3000m 2 Compared to traditional heliostat production lines, this method reduces the floor space required for the production line by 80%.

[0032] 2. The automatic heliostat assembly system provided by this invention adopts bidirectional feeding of lens back plates and assembles heliostats on a circulating tray. Through feeding, gluing, assembly, and cooling, it achieves efficient and high-precision automated assembly of heliostats. The maximum daily production capacity of a single production line can reach 2040 heliostats, with an assembly area exceeding 4400m². 2 Compared to manual bonding, the production efficiency is increased by more than 300%. The automated production line achieves precise production process control, reduces human error and variation, and improves product consistency and quality stability.

[0033] 3. During the heliostating process, adjusting the bolts and the assembled heliostat back plate causes the lens to exhibit a certain concave curvature from the center outwards, making the lens as a whole concave mirror shape, which improves the cutoff efficiency of the absorber. Attached Figure Description

[0034] Figure 1 This is a schematic diagram illustrating the usage state of the present invention;

[0035] Figure 2 This is a schematic diagram of the cyclic conveying system of the present invention;

[0036] Figure 3 This is a top view of the circulating conveying system of the present invention;

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

[0038] Figure 5 This is a schematic diagram of the flipping mechanism of the lens loading mechanism of the present invention in the first direction;

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

[0040] Figure 7 This is a left view of the flipping mechanism of the lens loading mechanism of the present invention;

[0041] Figure 8 This is a schematic diagram of the positioning mechanism of the lens loading 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 tray 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 schematic diagram of the pallet lifting platform structure of the present invention;

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

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

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

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

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

[0051] Figure 18 This is a schematic diagram of the double-layer frame unloading position guide mechanism of the present invention.

[0052] Reference numerals: 1. Lens loading mechanism; 11. Tilting mechanism; 111. First frame; 1111. Bearing seat; 1112. Fixed seat; 1113. Shock absorber; 1114. Mounting seat; 112. Tilting cylinder; 1121. Fork head; 113. Tilting frame; 1131. Tilting arm; 1132. Bottom support; 1133. Limiting frame; 1134. Ear plate; 1135. Hinge plate; 1136. Hinge shaft; 1137. First proximity sensor; 1138. Shock absorber 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 unit; 1332. Second positioning unit; 1333. Longitudinal positioning cylinder; 1334. Lateral positioning cylinder; 1335. Support frame; 1336. Push plate; 1337. Protective block; 14. Protective layer; 2. Lens loading robotic arm; 21. Mounting frame; 22. Suction cup; 23. Plasma cleaning head; 24. Vertical plate; 25. Slide table cylinder; 3. Circulating conveying system; 301. First linear conveying mechanism; 302. First steering conveying mechanism; 303. Second linear conveying mechanism; 304. Second steering conveying mechanism; 3051. Fixed frame; 3052. Second lifting cylinder; 3053. Positioning frame; 3054. Support block; 3055. Positioning pin; 31. Lens loading section; 311. First lifting resistance 312. Fourth proximity sensor; 32. Glue application section; 321. Second lifting stop; 322. First pallet lifting platform; 323. Fifth proximity sensor; 33. Backplate assembly section; 331. Third lifting stop; 332. Second pallet lifting platform; 333. Sixth proximity sensor; 34. First steering mechanism; 341. First base frame; 342. Third lifting cylinder; 343. First pallet lifting frame; 344. First steering conveyor belt; 345. First stop; 346. First stop block; 347. First positioning wall; 348. Seventh proximity sensor; 35. First curing section; 351. Fourth lifting stop; 352. Eighth proximity sensor; 36. Lens pallet separation section Section; 361, Third pallet lifting platform; 362, Fifth lifting stopper; 363, Ninth proximity sensor; 37, Second steering mechanism; 371, Second base frame; 372, Fourth lifting cylinder; 373, Second pallet lifting frame; 374, Second steering conveyor belt; 375, Second stopper; 376, Second stop block; 377, Second positioning wall; 378, Tenth proximity sensor; 4, Pallet; 41, Pallet body; 42, Bearing surface; 421, Corner positioning block; 422, Adjusting bolt; 423, Detector block; 424, Anti-collision block; 43, Chassis; 431, Clearance groove; 432, Misalignment groove; 433, Pallet positioning block; 5, Glue application robotic arm; 6, Backboard loading robotic arm; 7, Backboard flatness detection system;71. Backplate loading rack; 72. Inspection rack; 73. Recycling rack; 8. Material transfer robotic arm; 9. Secondary curing mechanism; 91. Double-layer rack; 911. Third linear conveyor mechanism; 912. Fourth linear conveyor mechanism; 913. Guiding mechanism; 9131. Guide wall; 9132. Corner cylinder; 9133. Rotating rod; 914. Limit block; 915. Twelfth proximity sensor; 916. Thirteenth proximity sensor; 92. Lifting frame 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 Implementation

[0053] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0054] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., 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. Multiple circulating transport trays 4 are arranged on the circulating conveying system 3. Along the transport path of the trays 4, a lens loading robot arm 2, an adhesive application robot arm 5, a backplate loading robot arm 6, and a transfer robot arm 8 are sequentially arranged around the circulating conveying system 3. A lens loading mechanism 1 is arranged next to the lens loading robot arm 2. The lens loading robot arm 2 picks up lenses from the lens loading mechanism 1 at fixed points and transfers them to the trays 4. The trays 4 carry the lenses along the circulating conveying system. System 3 moves, the gluing robot arm 5 applies glue to the glue application points on the back of the lens, the backplate loading robot arm 6 aligns the adhesive part of the backplate with the glue application points and places it on the back of the lens, the tray 4 carries the assembled heliostat along the circulating conveyor mechanism 3, and the glue gradually cures during the movement, the tray 4 is transported to the transfer robot arm 8, the transfer robot arm 8 removes the lens from the tray 4, the tray 4 continues to circulate in the circulating conveyor mechanism 3, after the heliostat glue has cured, it is transferred to the unloading mechanism 10, thus realizing the high-precision assembly of the heliostat lens and the backplate.

[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 transfers the lens placed in the flipping mechanism 11 to the lens conveying mechanism 12. The lens positioning mechanism 13 is provided in the lens conveying mechanism 12 to lift and position the lens on the lens conveying mechanism 12, so that the lens loading robot arm 2 can accurately grab the lens and place it precisely on the tray 4.

[0057] The flipping mechanism 11 includes a first frame 111, with a flipping frame 113 hinged to the front end of the first frame 111. A flipping cylinder 112 is disposed in the first frame 111, and the piston cylinder of the flipping cylinder 112 is hinged to the flipping frame 113. The flipping frame 113 is rotated by the extension and retraction of the piston rod of the flipping cylinder 112. The flipping frame 113 is in the initial position and is inclined during loading. After loading, the flipping frame 113 flips to be parallel to the ground and slightly lower than the plane of the lens conveying mechanism 12. The flipping frame 113 includes an L-shaped flipping part and a hinge part disposed on the rear side of the flipping part. The flipping part includes a flipping arm 1131, a bottom support part 1132 disposed at the bottom of the flipping arm 1131, and a limiting frame 1133 disposed on one side of the flipping arm 1131. A protective layer 14, which is a rubber protective layer, is disposed on the surface of the flipping arm 1131, the bottom support part 1132, and the limiting frame 1133 to prevent the lens from being scratched or bumped. During loading, the front of the lens faces the flipping arm 1131, the bottom edge of the lens is placed on the bottom support 1132, and one side of the lens is attached to the edge of the limiting frame 1133 to position the loading position of the lens, so that the lens is transferred from the fixed point to the lens conveying mechanism 12.

[0058] The hinge section includes a hinge shaft 1136, a hinge plate 1135, and an ear plate 1134. The hinge shaft 1136 is fixedly connected to the hinge plate 1135 and the ear plate 1134 by bolts. Bearing seats 1111 are respectively provided on both sides of the upper surface of the first frame 111. The hinge shaft 1136 is connected to the bearing seats 1111. A mounting base 1114 is provided in the first frame 111, and the tilting cylinder 112 is movably connected to the mounting base 1114. Above the tilting cylinder 112, a through hole is provided in the first frame 111. The piston rod of the tilting cylinder 112 extends out of the through hole. A fork-shaped head 1121 is provided at the end of the piston rod. The fork-shaped head 1121 is hinged to the hinge plate 1135. The rotation of the tilting frame 113 is controlled by the extension and retraction of the piston rod of the tilting cylinder 112. A first shock absorber 1138 is provided on the rear side of the flipping frame 113. A damping shock absorber 1113 is provided in the first frame 111 at the position corresponding to the first shock absorber 1138. A fixing seat 1112 for fixing the shock absorber 1113 is provided on the first frame 111. When the flipping frame 113 flips, the shock absorber 1113 contacts the first shock absorber 1138. The shock absorber 1113 causes the flipping frame 113 to slowly descend when it flips to the lateral position and absorbs the vibration of the flipping frame 113 during the flipping process, so that the lens is smoothly transferred to the lens conveying mechanism 12.

[0059] A first proximity sensor 1137 is installed at the loading position of the flipping frame 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 installed in the safety area outside the frame. After the worker places the lens on the flipping frame 113, he steps on the foot switch. The first proximity sensor 1137 detects whether there is a lens at the current position. If a lens is detected at the current position, the controller controls the piston rod of the flipping cylinder 112 to retract, transferring the lens to the lens conveying mechanism 12.

[0060] The lens conveying mechanism 12, driven by a first drive device, is located behind the flipping mechanism 11 and transports 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 robotic arm 2, preventing collisions with personnel. Four conveyor belts are installed in the lens conveying mechanism 12, spaced apart. A second proximity sensor 121 is installed along the lens's conveying path in the lens conveying mechanism 12. The second proximity sensor 121 is electrically connected to the controller and is used to detect the real-time position of the first proximity backplate. When the flipping mechanism 11 loads a lens, the distance from the second proximity sensor 121 to the front end of the flipping mechanism 11 is greater than the lens width. When the second proximity sensor 121 senses the lens, 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 includes a lifting mechanism and a lens lifting frame 133 mounted on the lifting mechanism. The lifting mechanism is mounted on a second frame 131 and consists of four first lifting cylinders 132 fixedly installed on the second frame 131. The piston rods of the first lifting cylinders 132 are vertically upward, and the lens lifting frame 133 is mounted on the piston rods of the first lifting cylinders 132. The lens lifting frame 133 includes four support frames 1335, which are staggered with the conveyor belt. When the first lifting cylinders 132 lift the lens lifting frame 133, the height of the support frames 1335 is higher than the height of the conveyor belt, thus lifting the lens from the lens conveying mechanism 12. At least on adjacent sides of the lens lifting frame 133, there are lateral positioning cylinders 1334 for adjusting the lateral position of the lens and longitudinal positioning cylinders 1333 for adjusting the longitudinal position of the lens, facilitating the robotic arm to grasp the lens from a fixed point. 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, at the front corner of the lens lifting frame 133, a first positioning part 1331 and a second positioning part 1332 are respectively provided. The front end and left side of the first positioning part 1331 are respectively provided with a protective block 1337. The front end of the second positioning part 1332 is provided with a protective block 1337. A transverse positioning cylinder 1334 fixedly installed on the lens lifting frame 133 is provided on the right side of the second positioning part 1332. The piston rod of the transverse positioning cylinder 1334 extends to the right. A longitudinal positioning cylinder 1333 fixedly installed on the rear side of the lens lifting frame 133 is provided. There are two longitudinal positioning cylinders 1333, and their piston rods extend to the rear. Push plates 1336 are provided at the ends of the piston rods of the transverse positioning cylinder 1334 and the longitudinal positioning cylinder 1333. Protective blocks 1337 are provided on the push plates 1336. When the piston rods of the transverse positioning cylinder 1334 and the longitudinal positioning cylinder 1333 retract, they also retract. The protective blocks 1337 push the lens to the left and forward, respectively. The first positioning part 1331 and the second positioning part 1332 limit the front end and left end of the lens. Under the pushing action of the transverse positioning cylinder 1334 and the longitudinal positioning cylinder 1333, the lens is fixed in the lens lifting frame 133. The protective blocks 1337 are circular rubber protective blocks to prevent the lens from being bumped when adjusting its position.

[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 set vertically upward and electrically connected to the controller. When the third proximity sensor 122 detects a lens, the controller drives the piston rod of the first lifting cylinder 132 to extend and lift the lens lifting frame 133. The lens lifting frame 133 lifts the lens from the lens conveying mechanism 12. Then, the piston rods of the transverse positioning cylinder 1334 and the longitudinal positioning cylinder 1333 retract to adjust the position of the lens and fix the lens in the lens positioning mechanism 13. The lens is then vacuum-picked by the lens loading robot arm 2 and moved to the circulating conveying system 3.

[0064] When the lens loading mechanism 1 is in use, the operator places the lens in the flipping frame 113 and steps on the foot switch. The first proximity sensor 1137 detects whether a lens is placed at the current position. If a lens is detected, the controller controls the piston rod of the flipping 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 lift the lens lifting frame 133 and raise the lens. Subsequently, the piston rods of the horizontal positioning cylinder 1334 and the vertical positioning cylinder 1333 retract to adjust the position of the lens and fix it, thus realizing the fixed-point loading of the heliostat lens and improving the assembly accuracy of the heliostat lens.

[0065] The lens loading robotic arm 2 has a mounting frame 21 at its gripper. Multiple suction cups 22 are installed in the mounting frame 21, and these suction cups 22 are connected to a vacuum generator located within the robotic arm via pipes. The vacuum suction picks up the lens from the lens positioning mechanism 13 and moves it to the circulating conveying system 3. A vertical plate 24 is located at the front end of the mounting frame 21. A sliding cylinder 25 is fixedly mounted on the outer side of the vertical plate 24, with its piston rod facing downwards. A plasma cleaning head 23 is fixedly installed in the sliding table on the side wall of the sliding cylinder 25, facing the lens. The plasma cleaning head 23 is existing technology 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 using plasma, effectively removing organic contaminants and tiny particles from the back of the lens, providing an ideal bonding interface for the adhesive and improving its adhesion. By combining the adhesive application robotic arm 5 with the plasma cleaning head 23, no additional equipment is needed for plasma cleaning, saving factory space.

[0066] The gripper of the lens loading robotic arm 2 moves to the lens positioning mechanism 13. The vacuum generator starts and creates negative pressure in the adsorption chamber, causing the suction cup 22 to pick up the lens. The lens is then transported to the tray 4 of the lens loading section 31 by the movement of the robotic arm. After the lens is placed in place, the vacuum generator stops running, and the air blowing valve blows air into the vacuum chamber to release the adsorption state. Then, the piston rod of the slide cylinder 25 extends and drives the plasma cleaning head 23 to move downward, so that the plasma cleaning head 23 is close to the lens. The lens loading robotic arm 2 drives the plasma cleaning head 23 to move along the preset path and cleans the adhesive application points to remove dust, contaminants, etc. on the back of the lens, thereby improving the adhesion during bonding.

[0067] To control the size of the production line and save on factory space as much as possible, in a preferred embodiment of the present invention, the circulating conveyor system 3 includes a first linear conveyor mechanism 301, a first deflecting conveyor mechanism 302, a second linear conveyor mechanism 303, and a second deflecting conveyor mechanism 304 connected in sequence. The planes of the first linear conveyor mechanism 301, the first deflecting conveyor mechanism 302, and the second deflecting conveyor mechanism 304 are located on a first plane, and the plane of the second linear conveyor mechanism 303 is located on a second plane, which is lower than the first plane. The first linear conveyor mechanism 301 and the second linear conveyor mechanism 303 are top-roller chain conveyor belts, with top-roller chains provided on both sides of the conveyor belt. The first deflecting conveyor mechanism 302 and the second deflecting conveyor mechanism 304 are 90° roller conveyor belts. Straight sections are provided at both the input and output ends of the first deflecting conveyor mechanism 302 and the second deflecting conveyor 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 conveyor 301 is driven by the second drive device, the first steering conveyor 302 is driven by the third drive device, the second linear conveyor 303 is driven by the fourth drive device, and the second steering conveyor 304 is driven by the fifth drive device. The input end of the first steering conveyor 302 is connected to the output end of the first linear conveyor 301, and the output end of the first steering conveyor 302 is perpendicular to the second linear conveyor 303; the input end of the second steering conveyor 304 is perpendicular to the second linear conveyor 303, and the output end of the second steering conveyor 304 is connected to the input end of the first linear conveyor 301.

[0069] The circulating conveyor system 3 is used to transport the pallet 4 in a cyclical manner. The pallet 4 passes sequentially through the first linear conveyor mechanism 301, the first deflecting conveyor mechanism 302, the second linear conveyor mechanism 303, and the second deflecting conveyor mechanism 304, where the heliostat is assembled and cured. The first linear conveyor mechanism 301 is equipped with a lens loading section 31, an adhesive application section 32, and a backplate assembly section 33. The second linear conveyor mechanism 303 is equipped with a first deflecting mechanism 34, a primary curing section 35, a lens pallet separation section 36, and a second deflecting mechanism 37.

[0070] Multiple robotic arms are installed along the circulating conveyor system 3 to perform processes such as loading, gluing, assembly, and transfer. Lens loading robotic arm 2 is located on one side of the loading section 31, picking up lenses from the lens loading mechanism 1 and placing them on the tray 4. Gluing robotic arm 5 is located on one side of the gluing section 32, applying glue to the gluing points on the back of the lenses placed on the tray 4. Backplate loading robotic arm 6 is located on one side of the backplate assembly section 33, grabbing heliostat backplates that have passed the backplate flatness detection system 7 and assembling them onto the lenses. A transfer robotic arm 8 is located next to the lens tray separation section 36, removing the heliostats from the tray 4 and moving them to the secondary curing mechanism 9 for further curing. The cured heliostats are then 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 303, using a double-layer conveyor belt to extend the glue curing time.

[0071] If the factory has a sufficiently large size, the secondary curing mechanism 9 may not be required. The curing time of the heliostat can be extended by extending the length of the circulating conveying system 3.

[0072] The tray 4 is placed in the circulating conveying system 3. The tray 4 includes a tray body 41, on which a bearing surface 42 is provided. The size of the bearing surface 42 is larger than the size of the tray body 41. The bearing surface 42 is rectangular, and corner positioning blocks 421 are provided at the four corners of the bearing surface 42 to limit the movement of the lens. A guide slope is provided on the inner side of the corner positioning blocks 421.

[0073] The lens 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 cutoff efficiency, the lens curvature needs to be adjusted to make the lens an overall concave mirror shape. On the bearing surface 42, multiple adjusting bolts 422 are arranged circumferentially around the center of the bearing surface 42. The nuts of the adjusting bolts 422 have different heights, decreasing sequentially with increasing circumferential radius, so that the adjusting bolts 422 installed on the bearing surface 42 are higher in the middle and lower around the edges. The upper surface of the nut is arc-shaped, contacting the front of the lens to avoid scratching it. The lens is generally about 3mm thick and relatively large. Under its own weight, the lens adheres to the bolts, causing the lens to exhibit a certain concave curvature from the center outwards.

[0074] The chassis 43, a square frame structure made of rubber, is located at the bottom of the pallet body 41. Limiting walls are provided on both sides of the circulating conveying system 3, and the width of the chassis 43 matches the width of the limiting walls to prevent the pallet 4 from shifting during transport. Symmetrical offset grooves 432 are provided on each side of the chassis 43, with the offset grooves 432 on two opposite sides of the chassis 43 staggered. These grooves allow the stoppers controlling the pallet 4 to pass through the front end of the pallet 4 during turning and to stop the pallet 4 from the inside. Clearance grooves 431 are provided at the four corners of the chassis 43 to allow clearance for the stops restricting the position of the pallet 4 during turning. Since the pallet 4 rotates 180° for each revolution in the circulating conveyor system 3, clearance grooves 431 are provided at the four corners of the chassis 43, and centrally symmetrical misalignment grooves 432 are provided on each side of the chassis 43. When the pallet 4 passes through the blocker in different directions, the blocker can pass through the misalignment grooves 432.

[0075] A pallet positioning block 433 is provided at the bottom of the tray body 41, located at the four corners of the inner side of the frame structure of the chassis 43. The pallet positioning block 433 has a groove for positioning the pallet 4 by the pallet lifting platform. On the bottom edge of the bearing surface 42 along its length, there are symmetrically arranged inverted detection blocks 423. The detection blocks 423 act as proximity sensors to detect targets. A collision protection block 424 is provided on the outside of the detection blocks 423. If the pallets 4 collide due to an accident, the collision protection block 424 absorbs the collision kinetic energy through elastic deformation, preventing the pallets 4 from directly contacting each other and causing structural damage.

[0076] To control the movement and stopping of pallet 4, a lifting stop is installed at the position where pallet 4 needs to stop. The lifting stop has a pneumatically driven piston rod that can extend upwards and a horizontally positioned damper. The piston rod of the damper faces the feeding direction, and slowly stops pallet 4 through damping. When the vertical piston rod extends, the damper stops pallet 4; when the vertical piston rod retracts, pallet 4 is released. This lifting stop is existing technology, and its internal structure will not be described in detail here.

[0077] At the lens loading section 31, a first tray positioning mechanism is provided to stop the tray 4 in front of the lens loading robot arm 2. The first tray positioning mechanism is a first lifting stop 311. In the initial state, the height of the piston rod of the first lifting stop 311 is lower than the height of the top roller chain. On the outside of the top roller chain conveyor belt, next to the first lifting stop 311, a fourth proximity sensor 312 is provided. 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 stop 311 is controlled to rise and the tray 4 is slowly stopped in front of the lens loading robot arm 2.

[0078] When the probe 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 stop 311 and activates the first lifting stop 311. The piston rod of the cylinder extends to lift the damper, and the piston rod of the damper abuts against the front side of the chassis 43, slowly blocking the tray 4 and stopping the tray 4. The lens loading robot arm 2 picks up the lens and puts it into the tray 4. Then the plasma cleaning head 23 cleans the glue application point. After cleaning, the controller controls the piston rod of the first lifting stop 311 to lower and release the tray 4.

[0079] A second pallet positioning mechanism is installed at the glue application section 32. This mechanism includes a second lifting stop 321 and a first pallet lifting platform 322, used to stop the pallet 4 in front of the glue application robot arm 5. The second lifting stop 321 is located at the front end of the first pallet lifting platform 322, stopping the pallet 4 in front of the glue application robot arm 5, and then the first pallet lifting platform 322 lifts the pallet 4 to position it. A fifth proximity sensor 323 is located on the outside of the top roller conveyor belt, next to the second lifting stop 321. The fifth proximity sensor 323 is electrically connected to the controller. It detects the position of the detection block 423, controls the second lifting stop 321 to rise, stopping the pallet 4 in the corresponding position, and then lifts the pallet 4 using the first pallet lifting platform 322.

[0080] The pallet lifting platform includes a fixed frame 3051 fixedly installed between two top roller conveyor belts. The fixed frame 3051 is square, and a lifting cylinder 3052 is respectively set 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 set on the piston rod. The size of the positioning frame 3053 matches the size of the chassis 43. Support blocks 3054 are set at the four corners of the upper surface of the positioning frame 3053. The position of the support blocks 3054 matches the position of the pallet positioning block 433 and is supported below the pallet positioning block 433. A positioning pin 3055 is set on the support block 3054 at least at opposite corners. 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 its initial state is lower than that of the top roller conveyor belt. When the piston rod of the lifting cylinder 3052 extends and the positioning frame 3053 is raised, the pallet 4 is raised and positioned from the first linear conveyor mechanism 301 or the second linear conveyor mechanism 303.

[0081] When the tray 4 moves to the position of the fifth proximity sensor 323, the controller sends an electrical signal to the second lifting stop 321 and activates the second lifting stop 321. The piston rod of the second lifting stop 321 extends and raises the damper. The piston rod of the damper abuts against the front side of the chassis 43, slowly blocking the tray 4 and stopping the tray 4. The piston rod of the second lifting cylinder 3052 extends and lifts the positioning frame 3053 to position the tray 4. The glue-applying robot arm 5 applies glue at each glue-applying point along the preset motion trajectory, so that the glue is accurately applied to each glue-applying point. By lifting the tray 4, the vibration caused by the relative movement between the bottom of the tray 4 and the conveyor belt is reduced, avoiding damage to the uniformity of glue distribution. After the glue application is completed, the controller controls the piston rod of the second lifting cylinder 3052 to retract and lower the tray 4. At the same time, the piston rod of the second lifting stop 321 lowers and releases the tray 4. The tray 4 moves to the back panel assembly section 33.

[0082] A back panel flatness detection system 7 is installed next to the back panel assembly section 33. The back panel flatness detection system 7 includes a back panel loading robot arm 6, a back panel loading rack 71, a detection rack 72, and a recycling rack 73. The backplate loading robotic arm 6 is positioned at the center of the inspection system 7, gripping and moving the heliostat backplate. The backplate loading rack 71 is located at the input end of the inspection system 7, and the backplate loading robotic arm 6 grips the heliostat backplate from the backplate loading rack 71. The inspection rack 72 has multiple through holes that match the positions of the adhesive parts. Multiple cameras are installed at the through holes on the back of the inspection rack 72. The robotic arm grips the heliostat backplate and places it on the inspection rack 72. By photographing the adhesive parts, the flatness of the backplate is inspected by the flatness inspection system 7. Based on the flatness inspection results of the heliostat backplate, qualified heliostat backplates are gripped by the backplate loading robotic arm 6 and moved to the tray 4, while unqualified heliostat backplates are gripped by the backplate loading robotic arm 6 and moved to the recycling rack 73. The end of the back plate loading robot arm 6 is provided with a gripper, and a clamping mechanism is symmetrically arranged in the gripper. The clamping mechanism grips the back plate from a fixed point through a plug-in column and a clamping rod driven by a cylinder. The gripper structure of the back plate loading robot arm 6 and the back plate flatness detection system 7 are existing technologies, which can be found in patent CN107283145B, and will not be described in detail here.

[0083] A third pallet positioning mechanism is installed at the backplate assembly section 33. This mechanism includes a third lifting stop 331 and a second pallet lifting platform 332, used to stop the pallet 4 in front of the backplate loading robot arm 6. The third lifting stop 331 is located at the front end of the second pallet lifting platform 332, outside the first linear conveyor 301. A sixth proximity sensor 333 is located next to the third lifting stop 331 and is electrically connected to the controller. The sixth proximity sensor 333 detects the position of the detection block 423, controlling the third lifting stop 331 to rise and slowly stop the pallet 4 in front of the backplate loading robot arm 6. The second pallet lifting platform 332 lifts the pallet 4, positioning it. Then, the backplate loading robot arm 6 picks up the qualified heliostat backplate. Based on a preset motion path, the backplate loading robot arm 6 aligns the adhesive part of the backplate with the glue application point and places it at the glue application point. By lifting the pallet 4, vibration caused by the relative movement between the bottom of the pallet 4 and the conveyor belt is reduced, achieving precise assembly of the lens and the backplate.

[0084] Multiple adhesive parts are provided in the back plate, each adhesive part has a certain inclination. The adhesive parts of the back plate as a whole have 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] A first steering conveyor mechanism 302 is installed after the backplate assembly section 33 to turn the pallet 4 and continue transporting the heliostat via a second linear conveyor mechanism 303. During transport, the adhesive between the lens and the backplate is cured. The input end of the first steering conveyor mechanism 302 is flush with the output end of the first linear conveyor mechanism 301, and the output end of the first steering conveyor mechanism 302 is perpendicular to the second linear conveyor mechanism 303.

[0086] The pallet 4 is turned 90° by the first turning conveyor 302 and changes from lateral transport to longitudinal transport. The output end of the first turning conveyor 302 is provided with a first turning mechanism 34, which is located between the two top roller chains of the second linear conveyor 303. The first turning mechanism 34 positions the pallet 4 that has been turned by the first turning conveyor 302 and moves it vertically into the second linear conveyor 303, so as to achieve a smooth transition from the first turning conveyor 302 to the second linear conveyor 303.

[0087] The first steering mechanism 34 includes a first base frame 341 fixedly installed in the second linear conveyor mechanism 303. Third lifting cylinders 342 are located at the four corners of the first base frame 341. A first pallet lifting frame 343 is mounted on the piston rod of the third lifting cylinder 342. A first steering conveyor belt 344 is installed within the first pallet lifting frame 343, positioned opposite each other on both sides of the first pallet lifting frame 343. The movement direction and speed of the first steering conveyor belt 344 match the movement direction of the first steering conveyor mechanism 302 and are perpendicular to the second linear conveyor mechanism 303. Driven by a sixth driving device, the pallet 4 is moved from the first steering conveyor mechanism 302 onto the first steering conveyor belt 344. The initial position of the first pallet lifting frame 343 is below the second linear conveyor mechanism 303. After the third lifting cylinders 342 lift the first pallet lifting frame 343, it becomes flush with the first steering conveyor mechanism 302.

[0088] A first stopper 345 is provided on the side of the first pallet lifting frame 343 near the first steering conveyor mechanism 302. The first stopper 345 is located between the two conveyor belts of the first steering mechanism 34. The first stopper 345 is a damping stopper, with its piston rod facing the first steering conveyor mechanism 302. A first stop block 346 is provided at the piston rod of the first stopper 345. The height of the first stop block 346 is higher than the height of the first steering conveyor belt 344, used to limit the movement distance of the pallet 4 in the first steering mechanism 34. The first stop block 346 is located at the misalignment groove 432 on the front side of the pallet 4. The first stop block 346 can pass through the misalignment groove 432 on the front side of the pallet 4 and block the pallet 4 from the inside, stopping the pallet 4. On both sides of the first steering conveyor belt 344, a first positioning wall 347 is provided. The first positioning wall 347 at the input end of the first steering mechanism 34 is provided with a guide slope. The distance between the two first positioning walls 347 matches the distance of the pallet 4, correcting and limiting the deviation of the pallet 4.

[0089] After pallet 4 passes the sixth proximity sensor 333, the sixth proximity sensor 333 sends an electrical signal to the controller, causing the piston rod of the third lifting cylinder 342 to extend and lift the first pallet lifting frame 343, while simultaneously activating the first steering conveyor belt 344. A seventh proximity sensor 348 is installed on the side of the second linear conveyor mechanism 303 away from the first steering 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 steering conveyor belt 344. The first stop block 346 stops pallet 4 from the inside. The controller controls the first steering conveyor belt 344 to stop moving and controls the piston rod of the third lifting cylinder 342 to descend, 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, the tray 4 enters the primary curing section 35. In the primary curing section 35, multiple fourth lifting stops 351 are evenly spaced. On the outside of the second linear conveying mechanism 303, each fourth lifting stop 351 is equipped with a corresponding eighth proximity sensor 352. When the detection block 423 of the tray 4 moves to the eighth proximity sensor 352, the piston rod of the fourth lifting stop 351 extends and lifts the damper. The damper causes the tray 4 to stop slowly. When the subsequent tray 4 arrives, the fourth lifting stops 351 release the obstruction of the preceding tray 4 in a cascaded control manner from front to back, allowing the trays 4 to pass in sequence. This prolongs the dwell time of the heliostat in the primary curing section 35, and the adhesive cures naturally during the slow transport in the primary curing section 35, improving the bonding strength between the backplate and the lens.

[0091] The heliostat is then transported to the lens tray separation section 36, which is equipped with a fourth tray positioning mechanism. This mechanism includes a third tray lifting platform 361 and a fifth lifting stopper 362, used to stop the tray 4 in front of the transfer robot arm 8. The fifth lifting stopper 362 is located at the front end of the third tray lifting platform 361. A ninth proximity sensor 363 is located outside the second linear conveyor mechanism 303, next to the fifth lifting stopper 362. The ninth proximity sensor 363 is electrically connected to the controller. The controller detects the position of the detection block 423, controls the fifth lifting stopper 362 to rise, and slowly stops the tray 4 in front of the transfer robot arm 8. The third tray lifting platform 361 then lifts the tray 4 to position it.

[0092] The transfer robot arm 8 picks up the heliostat from the third pallet lifting platform 361 at a fixed point and transports it to the secondary curing mechanism 9 with the lens facing upwards. The lens moves within the secondary curing mechanism 9 and continues to undergo natural curing of the adhesive. With the heliostat's lens facing upwards and the backplate in direct contact with the secondary curing mechanism 9, the lens maintains its concave curvature. After the transfer robot arm 8 picks up the lens, the piston rod of the cylinder in the third pallet lifting platform 361 descends, causing the pallet 4 to fall onto the second linear conveying mechanism 303. Simultaneously, the piston rod of the fifth lifting stop 362 descends, releasing the pallet 4. The transfer robot arm 8 has the same structure as the backplate loading robot arm 6, moving the heliostat by picking up the backplate; this structure is existing technology and will not be described further here.

[0093] The pallet 4 moves along the second linear conveyor mechanism 303 to the second steering mechanism 37, which is located between the two top roller chains of the second linear conveyor mechanism 303, causing the pallet 4 to turn. The second steering mechanism 37 includes a second base frame 371 fixedly installed in the second linear conveyor mechanism 303. A fourth lifting cylinder 372 is provided at the four corners of 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 is provided in the second pallet lifting frame 373. The second steering conveyor belt 374 is arranged opposite to each other on both sides of the second pallet lifting frame 373. The movement direction and conveying speed of the second steering conveyor belt 374 are matched with the second steering conveyor mechanism 304. The movement direction is perpendicular to the second linear conveyor mechanism 303. Driven by the seventh drive device, the pallet 4 is moved from the second linear conveyor mechanism 303 to the second steering conveyor mechanism 304. A second stopper 375 is provided in the second pallet lifting frame 373. The second stopper 375 is a damping stopper, located between the two top roller conveyor belts of the second linear conveyor mechanism 303. A second stop 376 is provided at the piston rod of the second stopper 375. The stop 376 is located at the misalignment groove 432 on the front side of the pallet 4. The piston rod of the second stopper 375 is oriented towards the feeding direction to limit the movement distance of the pallet 4 in the second linear conveyor mechanism 303. Second positioning walls 377 are provided on both sides of the second steering conveyor belt 374. The distance between the first positioning walls 347 on both sides matches the side length of the chassis 43 to limit the movement of the pallet 4. When the piston rod of the second stopper 375 is in the compressed state, the distance between the second stop 376 and the second positioning wall 377 matches the width of the frame chassis 43. When the pallet 4 moves into position, the bottom frame of the pallet 4 is precisely positioned above the second steering conveyor belt 374.

[0094] The fourth lifting cylinder 372 can be a conventional cylinder or a double-stroke cylinder. In the 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 height of the second steering conveyor belt 374 is lower than the height of the second linear conveyor mechanism 303, and the height of the second stop block 376 is higher than the height of the second linear conveyor mechanism 303; when the second pallet lifting frame 373 is at its second height, the height of the second steering conveyor belt 374 is flush with the height of the second steering conveyor mechanism 304. At the front end of the second steering conveyor belt 374, on the outside of the second linear conveyor mechanism 303, a tenth proximity sensor 378 is provided. The tenth proximity sensor 378 is electrically connected to the controller. When the tenth proximity sensor 378 detects the sensing block 423 located in front of the tray 4, it sends an electrical signal to the controller to control the fourth lifting cylinder 372 to raise the second tray lifting frame 373 to the second height. Then, the seventh drive device drives the second steering conveyor belt 374 to transfer the tray 4 into the second steering conveyor mechanism 304. When the second steering conveyor belt 374 turns the tray 4, the second stop block 376 avoids colliding with the chassis 43 because a clearance groove 431 is provided at the bottom of the tray 4.

[0095] In a second embodiment of the second steering mechanism 37, the fourth lifting cylinder 372 is a double-stroke cylinder. The double-stroke cylinder uses a solenoid valve to control compressed air to enter and exit the cylinder from different inlets and outlets, resulting in different strokes for the cylinder's piston rod. The second pallet lifting frame 373 has three heights: at the initial height, the height of the second stop 376 is lower than the height of the second linear conveyor mechanism 303; at the second height, the height of the second steering conveyor belt 374 is lower than the height of the second linear conveyor mechanism 303, and the height of the second stop 376 is higher than the height of the second linear conveyor mechanism 303; at the third height, the height of the second steering conveyor belt 374 is flush with the height of the second steering conveyor mechanism 304. The distance between the ninth proximity sensor 363 and the second stopper 375 in the length direction 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 stopper 375 is exactly 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 tray lifting frame 373 to the second height and stop the tray 4 from the inside. At the front end of the second steering conveyor belt 374, on the outside of the second linear conveyor mechanism 303, a tenth proximity sensor 378 is provided. The tenth proximity sensor 378 is electrically connected to the controller. When the tenth proximity sensor 378 detects the sensing block 423 located in front of the tray 4, it sends an electrical signal to the controller, controlling the fourth lifting cylinder 372 to raise the second tray lifting frame 373 to the third height. Subsequently, the seventh drive device drives the second steering conveyor belt 374 to transfer the tray 4 into the second steering conveyor mechanism 304. When the second steering conveyor belt 374 turns the tray 4, the second stop block 376 avoids colliding with the chassis 43 due to the clearance groove 431 at the bottom of the tray 4.

[0096] The second steering conveyor 304 turns the pallet 4 90°, changing it from longitudinal to lateral transport and moving it to the lens loading section 31. The pallet 4 completes one cycle of transport via the first linear conveyor 301, the first steering conveyor 302, the second linear conveyor 303, and the second steering conveyor 304.

[0097] The secondary curing mechanism 9 includes a double-layer frame 91 and a lifting frame 92. A third linear conveyor mechanism 911 and a fourth linear conveyor mechanism 912 are arranged in the double-layer frame 91. The third and fourth linear conveyor mechanisms 911 and 912 employ top-roller chain conveyors. The third and fourth linear conveyor mechanisms 911 and 912 move continuously in opposite directions, driven by an eighth and a ninth drive device, respectively. It is understood that the third linear conveyor mechanism 911 moves towards the lifting frame 92, transporting the heliostat into the lifting frame 92, while the fourth linear conveyor mechanism 912 moves away from the lifting frame 92, transporting the heliostat to the unloading section. Preferably, the third linear conveyor mechanism 911 is located on the upper layer, and the fourth linear conveyor mechanism 912 is located on the lower layer. The heliostat is picked up by the transfer robot arm 8 and moved to the third linear conveyor mechanism 911. The double-layer conveyor belt design extends the cooling time of the heliostat within a limited space. The heliostat sequentially passes through the third linear conveyor mechanism 911, the horizontal transfer mechanism 923, and the fourth linear conveyor mechanism 912, allowing the adhesive applied between the heliostat's backplate and the lens to fully cure. The fourth linear conveyor mechanism 912 then transfers the heliostat back to the transfer robot arm 8, which picks up the lens at a fixed point and places it into the unloading mechanism 10.

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

[0099] Each positioning slide rail 9223 is equipped with two positioning sliders 9224, and the side walls of the two positioning sliders 9224 are connected to a fixing plate 9225. The pneumatic slide rail 9221 is positioned facing the double-layer frame 91, and a pneumatic slider 9222 is installed in the pneumatic slide rail 9221. The rear end of the base 9231 is fixedly connected to the pneumatic slider 9222 and the fixing plate 9225. Under the control of the control valve, the pneumatic slide rail 9221 causes the horizontal material transfer mechanism 923 to move up and down. The positioning slide rail 9223 and the positioning slider 9224 provide support for the movement of the horizontal material transfer mechanism 923 and distribute the load. At the same time, the use of double sliders further distributes the load of the horizontal material transfer mechanism 923 on the positioning slide rail 9223, avoids overload, and extends the service life of the equipment.

[0100] The transfer conveyor belt 9233 is a top-roller chain conveyor belt. Driven by the tenth drive device in either forward or reverse rotation, it moves the heliostat from the third linear conveyor mechanism 911 onto the transfer conveyor belt 9233 or from the transfer conveyor belt 9233 to the fourth linear conveyor mechanism 912. The front end of the transfer conveyor belt 9233 is staggered with the third linear conveyor mechanism 911 and the fourth linear conveyor mechanism 912. When the pneumatic slide rail 9221 moves the transfer conveyor belt 9233 to the top and bottom positions, it is flush with the third linear conveyor mechanism 911 and the fourth linear conveyor mechanism 912, respectively, and the movement speed of the transfer conveyor belt 9233 matches the movement speed of the third linear conveyor mechanism 911 and the fourth linear conveyor mechanism 912. The heliostat can smoothly move 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 installed in the material transfer conveyor belt 9233. The eleventh proximity sensor 9234 is set vertically upward 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 on the bottom front side of the outer frame 921. A rubber shock absorber 925 is provided on the support column 924. The rubber shock absorber 925 can abut against the bottom of the base 9231 to prevent the heliostat from shifting due to vibration when the horizontal material transfer 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 and adjust the orientation of the heliostat, enabling the material handling robot arm 8 to grasp the heliostat from a fixed point and move it into the unloading mechanism 10. The guide mechanism 913 includes a guide wall 9131, a corner cylinder 9132, and a twelfth proximity sensor 915. The guide wall 9131 is fixedly installed in the fourth linear conveyor mechanism 912 by multiple right-angle connectors. The guide wall 9131 includes an inclined guide section and a linear limiting section. The guide section of the guide wall 9131 bends inward from both sides. The corner cylinder 9132 is located on the inner side of the guide wall 9131 at the bend. The guide wall 9131 and the corner cylinder 9132 guide and correct the orientation of the heliostat. The piston rod of the angle cylinder 9132 is provided with a rotating rod 9133 at its end. The rotating rod 9133 is located at the bend of the guide wall 9131. In the initial state of the angle cylinder 9132, the rotating rod 9133 is in a horizontal state, and the heliostat can pass normally. When the piston rod of the angle cylinder 9132 extends, the rotating rod 9133 rotates 90° and is vertically upward. The rotating rod 9133 abuts against the front side of the heliostat back plate and levels the heliostat. The twelfth proximity sensor 915 is installed on the inclined guide section of the guide wall 9131. The twelfth proximity sensor 915 is set vertically upward and electrically connected to the controller. When the heliostat moves above the twelfth proximity sensor 915 and the twelfth proximity sensor 915 detects the heliostat, the controller controls the piston rod of the angle cylinder 9132 to extend and abut against the front side of the heliostat back plate. After the adjustment is completed, the piston rod of the angle cylinder 9132 retracts, and the rotating rod 9133 rotates 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 the heliostat moves to the end of the fourth linear conveyor mechanism 912, a flexible protective layer is provided on the side wall of the limit block 914 on the contact side with the heliostat. The flexible protective layer can be made of rubber or the like to prevent the heliostat back plate from colliding with the limit block and being damaged. A thirteenth proximity sensor 916 is provided at the limit block 914. The thirteenth proximity sensor 916 is set vertically upward and electrically connected to the controller. When the heliostat moves above the thirteenth proximity sensor 916, and the thirteenth proximity sensor 916 detects the heliostat, the controller controls the material handling robot arm 8 to grab the heliostat and move it into the unloading mechanism 10. The operator collects the assembled heliostat at the end of the unloading mechanism 10.

[0104] The automatic assembly method for heliostats is as follows:

[0105] S1: Place the lens at the feed end of the flipping frame 113. The flipping frame 113 flips onto the lens conveying mechanism 12. The lens is moved to the lens positioning mechanism 13 via 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.

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

[0107] S3: Under the drive of the first linear conveyor 301, the tray 4 moves to the front of the glue-applying robotic arm 5. The second lifting stopper 321 stops the tray 4, the first tray lifting platform 322 lifts the tray 4 and positions it. The glue-applying robotic arm 5 applies glue at the glue-applying 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: Under the drive of the first linear conveyor 301, the pallet 4 moves to the front of the back plate loading robot arm 6. The third lifting stopper 331 stops the pallet 4, the second pallet lifting platform 332 lifts the pallet 4 and positions it. The back plate loading robot arm 6 grabs the heliostat back plate and aligns the adhesive part with the glue application point and places it on the lens. The third lifting stopper 331 and the second pallet lifting platform 332 lower to release the pallet 4.

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

[0110] S6: The pallet 4 moves under the drive of the second linear conveyor 303. The fourth lifting stopper 351 in the multiple second linear conveyors 303 stops and releases the pallet 4 in sequence through cascade control, and releases the obstruction of the pallet 4 in front from front to back.

[0111] S7: The fifth lifting stopper 362 stops the pallet 4, the third pallet lifting platform 361 lifts the pallet 4 and positions it, the material transfer robot arm 8 grabs the heliostat in the pallet 4, flips the heliostat so that the heliostat is facing up and places it on the third linear conveyor mechanism 911, and after the heliostat is removed, the fifth lifting stopper 362 and the third pallet lifting platform 361 lower down to release the pallet 4.

[0112] S7.1: Under the drive of the second linear conveyor mechanism 303, the pallet 4 moves to the second steering mechanism 37. After the second stopper 375 stops the pallet 4, the second steering conveyor belt 374 rises to be flush with the second steering conveyor mechanism 304 and rotates synchronously with the second steering conveyor mechanism 304, so that the pallet 4 is turned into the second steering conveyor mechanism 304. The pallet 4 is rotated 90° through the second steering conveyor mechanism 304 into the first linear conveyor mechanism 301 and is stopped by the first lifting stopper 311.

[0113] S8: The heliostat moves under the drive of the third linear conveyor mechanism 911. The horizontal material transfer mechanism 923 in the lifting frame 92 is flush with the third linear conveyor mechanism 911 and rotates synchronously with the third linear conveyor mechanism 911. The heliostat moves from the third linear conveyor mechanism 911 to the lifting frame 92. Then the horizontal material transfer mechanism 923 moves vertically to be flush with the fourth linear conveyor mechanism 912 and moves synchronously with the fourth linear conveyor mechanism 912. The heliostat moves under the drive of the fourth linear conveyor mechanism 912 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 handling robot arm 8 grabs the heliostat and moves it to the unloading mechanism 10, where the heliostat is collected 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 variations or substitutions that can be easily conceived by those 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 determined by the scope of the claims.

Claims

1. An automatic assembly system for heliostats, characterized in that, The system includes a circular conveying system (3), on which multiple circular transport pallets (4) are provided. According to the transport path of the pallets (4), a lens loading robot arm (2), an adhesive coating robot arm (5), a back plate loading robot arm (6) and a material transfer robot arm (8) are arranged sequentially along the circular conveying system (3). Next to the lens loading robot arm (2) is a lens loading mechanism (1), which is the input end of the lens. The lens loading robot arm (2) picks up the lens from the lens loading mechanism (1) with the back facing up and puts it into the tray (4). The adhesive-applying robotic arm (5) is used to apply adhesive at the adhesive application points on the back of the lens; The backplate loading robot arm (6) is used to grab the heliostat backplate and place the adhesive part of the heliostat backplate onto the lens, aligning it with the glue application point. A feeding mechanism (10) is provided next to the material transfer robot arm (8), and the material transfer robot arm (8) takes the heliostat out of 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, so that the pallet (4) is stopped in front of the lens loading robot arm (2), the glue coating robot arm (5), the back plate loading robot arm (6) and the material transfer robot arm (8) respectively.

2. The automatic heliostat assembly system according to claim 1, characterized in that, The tray (4) includes a tray body (41), a bearing surface (42) disposed on the tray body (41), and a base plate (43) disposed at the bottom of the tray body (41). Corner positioning blocks (421) are provided at the four corners of the bearing surface (42). Multiple adjusting bolts (422) are arranged circumferentially on the bearing surface (42) with the center of the bearing surface (42) as the center. The height of the nuts of the adjusting bolts (422) decreases sequentially with the increase of the radius of the circumference. 2) The bottom is symmetrically provided with inverted detection blocks (423), and the outer side of the detection blocks (423) is provided with anti-collision blocks (424); the chassis (43) is a square frame structure, and each side of the chassis (43) is provided with a centrally symmetrical offset groove (432), and the opposite side offset grooves (432) are staggered. The four corners of the chassis (43) are provided with clearance grooves (431); the bottom of the disc body (41) is provided with a tray positioning block (433), and the tray positioning block (433) is provided with a groove.

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

4. The automatic heliostat assembly system according to claim 3, characterized in that, The first steering mechanism (34) includes a first base frame (341) fixedly installed in the second linear conveying mechanism (303). The first base frame (341) is provided with a third lifting cylinder (342) with a piston rod pointing vertically upward. The piston rod of the third lifting cylinder (342) is provided with a first pallet lifting frame (343). The second pallet lifting frame (343) is provided with a first steering conveyor belt (344) that matches the movement direction of the first steering conveying mechanism (302). The first pallet lifting frame (343) is provided with a first stopper (345) on the side near the first steering conveying mechanism (302). The first stopper (345) is located at the misalignment 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). The second base frame (371) is provided with a fourth lifting cylinder (372) with the piston rod pointing vertically upward. The piston rod of the fourth lifting cylinder (372) is provided with a second pallet lifting frame (373). The second pallet lifting frame (373) is provided with a second steering conveyor belt (374) that matches the movement direction of the second steering conveying mechanism (304). The second pallet lifting frame (373) is provided with a second stopper (375).

5. The automatic heliostat assembly system according to claim 1, characterized in that, The lens loading mechanism (1) includes a flipping mechanism (11) at the loading end, a lens conveying mechanism (12), and a lens positioning mechanism (13) in the lens conveying mechanism (12). The flipping mechanism (11) includes a first frame (111), a flipping frame (113) hinged to the first frame (111), and a flipping cylinder (112) in the first frame (111). The piston rod of the flipping cylinder (112) is hinged to the flipping frame (113) to place the lens into the flipping mechanism (11). The lens is transferred to the lens conveying mechanism (12); the lens conveying mechanism (12) is provided with multiple 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 multiple support frames (1335) arranged intersecting with the conveyor belts. The lens lifting frame (133) is provided with a transverse positioning cylinder (1334) and a longitudinal positioning cylinder (1333) on at least two adjacent sides.

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

7. The automatic heliostat assembly system according to claim 1, characterized in that, The lens loading robotic arm (2) has a mounting frame (21) at its gripper. The mounting frame (21) has multiple suction cups (22) connected to a vacuum generator via pipes. The front end of the mounting frame (21) has a vertical plate (24). The front side of the vertical plate (24) has a slide cylinder (25). The piston rod of the slide cylinder (25) is facing downwards. The slide cylinder (25) has a plasma cleaning head (23) in the slide of the side wall of the slide cylinder (25).

8. The automatic heliostat 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 multiple fourth lifting stops (351) are provided at equal intervals in the primary curing section (35).

9. The automatic heliostat 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) includes a double-layer frame (91) and a lifting frame (92). The double-layer frame (91) includes a third linear conveying mechanism (911) and a fourth linear conveying mechanism (912). The movement direction of the third linear conveying mechanism (911) is towards the lifting frame (92), and the movement direction of the fourth linear conveying mechanism (912) is away from the lifting frame (92). A guide mechanism (913) and a limiting block (914) are provided at the end of the fourth linear conveying mechanism (912). The lifting frame (92) includes an outer frame (921), a vertical material transfer mechanism (922) provided in the outer frame (921), and a horizontal material transfer mechanism (923) installed in the vertical material transfer mechanism (922).

10. An automatic assembly method for a heliostat, characterized in that, include: S1: Place the lens on the feed end of the flipping frame (113), flip the frame (113) to the lens conveying mechanism (12), and move the lens to the lens positioning mechanism (13) via 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 arm (2) grabs the lens at a fixed point and places the lens with the back side facing up on the tray (4) blocked by the first lifting stopper (311). The piston rod of the slide cylinder (25) extends, so that the plasma cleaning head (23) approaches the lens. The lens loading robot arm (2) cleans the glue application point on the back of the lens along the preset motion trajectory. The first lifting stopper (311) lowers to release the tray (4). S3: The tray (4) moves to the front of the glue-applying robot arm (5) driven by the first linear conveyor (301). The second lifting stopper (321) stops the tray (4), the first tray lifting platform (322) lifts the tray (4) and positions it. The glue-applying robot arm (5) applies glue at the glue-applying point of the lens along the preset trajectory. The second lifting stopper (321) and the first tray lifting platform (322) lower down to release the tray (4). S4: Under the drive of the first linear conveyor (301), the pallet (4) moves to the front of the back plate loading robot arm (6), the third lifting stopper (331) stops the pallet (4), the second pallet lifting platform (332) lifts the pallet (4) and positions it, the back plate loading robot arm (6) grabs the heliostat back plate and aligns the adhesive part with the glue application point and places it on the lens, the third lifting stopper (331) and the second pallet lifting platform (332) lower down to release the pallet (4); S5: The pallet (4) moves from the first linear conveyor (301) to the first steering conveyor (302). The first steering conveyor belt (344) rises to be flush with the first steering conveyor (302) and rotates synchronously with the first steering conveyor (302). The pallet (4) rotates 90° through the first steering conveyor (302) and moves to the first steering mechanism (34). After the first stopper (345) stops the pallet (4), the first steering conveyor belt (344) descends and turns the pallet (4) into the second linear conveyor (303). S6: The pallet (4) moves under the drive of the second linear conveyor (303). The fourth lifting stopper (351) in the multiple second linear conveyors (303) stops and releases the pallet (4) in sequence through cascade control, and releases the obstruction of the pallet (4) in front from front to back in sequence. S7: The fifth lifting stopper (362) stops the pallet (4), the third pallet lifting platform (361) lifts the pallet (4) and positions it, the material transfer robot arm (8) grabs the heliostat in the pallet (4), flips the heliostat so that the front of the heliostat is facing up and places it on the third linear conveyor (911), after the heliostat is removed, the fifth lifting stopper (362) and the third pallet lifting platform (361) lower down to release the pallet (4); S7.1: The pallet (4) moves to the second steering mechanism (37) under the drive of the second linear conveyor (303). After the second stopper (375) stops the pallet (4), the second steering conveyor belt (374) rises to be flush with the second steering conveyor (304) and rotates synchronously with the second steering conveyor (304), so that the pallet (4) turns into the second steering conveyor (304). The pallet (4) rotates 90° through the second steering conveyor (304) into the first linear conveyor (301) and is stopped by the first lifting stopper (311). S8: The heliostat moves under the drive of the third linear conveyor (911). The horizontal transfer mechanism (923) in the lifting frame (92) is flush with the third linear conveyor (911) and rotates synchronously with the third linear conveyor (911). The heliostat moves from the third linear conveyor (911) to the lifting frame (92). Then the horizontal transfer mechanism (923) moves vertically to be flush with the fourth linear conveyor (912) and moves synchronously with the fourth linear conveyor (912). The heliostat moves to the guide mechanism (913) under the drive of the fourth linear conveyor (912). After being corrected and adjusted by the guide mechanism (913), it is stopped by the limit block (914). S9. The material transfer robot arm (8) grabs the heliostat and moves it to the unloading mechanism (10).

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