A heliostat assembly mechanism

Abstract

The utility model provides a kind of heliostat assembly mechanism, including conveying mechanism and be sequentially provided with lens feeding mechanical arm, glue applying mechanical arm, backboard feeding mechanical arm and material moving mechanical arm in the movement direction along the conveying mechanism on the conveying mechanism, the conveying mechanism is provided with tray, the position corresponding lens feeding mechanical arm, glue applying mechanical arm, backboard feeding mechanical arm and material moving mechanical arm in conveying mechanism, first tray positioning mechanism, second tray positioning mechanism, third tray positioning mechanism and fourth tray positioning mechanism are respectively provided, tray is used to bear the assembly of heliostat, move under the driving of the conveying mechanism, lens feeding mechanical arm is placed into tray by grabbing lens, glue applying mechanical arm is glued at the glue point position on the back of lens, backboard feeding mechanical arm grabs heliostat backplate, and the adhesive part of heliostat backplate is placed on lens by aligning glue point position, material moving mechanical arm removes the heliostat of assembly in tray, realizes the automatic assembly of heliostat.

Description

Technical Field

[0001] This utility model relates to the field of heliostat technology, and in particular to a heliostat assembly mechanism. Background Technology

[0002] Heliostats are the core concentrating components of tower-type concentrated solar power (CSP) systems. Their function is to track the sun's position in real time using a high-precision array of mirrors, reflecting and focusing solar radiation onto a receiver at the top of the collector tower. A heliostat consists of a backplate and mirror lenses, and assembly is achieved by joining the backplate and lenses. Currently, heliostat assembly relies on manual labor, resulting in low automation, low efficiency, and long lead times. A single CSP mirror factory needs tens or even hundreds of thousands of heliostats. To achieve automated heliostat assembly, a new heliostat assembly mechanism is needed. Utility Model Content

[0003] To address the problems existing in the prior art, this utility model provides a heliostat assembly mechanism, including a conveying mechanism with a tray on it. Along the movement direction of the conveying mechanism, a lens loading robot arm, an adhesive coating robot arm, a backplate loading robot arm, and a material transfer robot arm are sequentially arranged beside the conveying mechanism.

[0004] The conveying mechanism is equipped with a first tray positioning mechanism, a second tray positioning mechanism, a third tray positioning mechanism, and a fourth tray positioning mechanism at the positions corresponding to the lens loading robot arm, the glue coating robot arm, the back plate loading robot arm, and the material transfer robot arm, respectively, so that the trays are respectively stopped in front of the lens loading robot arm, the glue coating robot arm, the back plate loading robot arm, and the material transfer robot arm;

[0005] The tray is used to support the assembly of the heliostat and moves under the drive of the conveying mechanism;

[0006] The lens loading robotic arm is used to pick up lenses and place them into a tray;

[0007] The adhesive-applying robotic arm is used to apply adhesive at the adhesive application points on the back of the lens.

[0008] 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;

[0009] The robotic arm is used to remove the heliostat assembled in the tray.

[0010] Specifically, the tray includes a tray body with a bearing surface and a base at the bottom of the tray body. A detection block is provided at the bottom edge of the bearing surface along its length. The base is a square frame structure. At the four corners of the inner side of the base frame structure, a tray positioning block is provided at the bottom of the tray body, and a groove is provided in the tray positioning block.

[0011] Specifically, on the bearing surface, there are multiple adjusting bolts arranged in a circular pattern on a circle with different radii, with the center of the bearing surface as the center. The height of the nut of the adjusting bolt decreases sequentially as the radius of the circle increases, and the upper surface of the nut is arc-shaped.

[0012] Specifically, each side of the chassis is provided with a centrally symmetrical offset groove, the offset grooves on opposite sides are staggered, and the four corners of the chassis are provided with clearance grooves.

[0013] Specifically, the conveying mechanism is a ring conveying mechanism, which 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.

[0014] Specifically, the input end of the first steering conveyor is connected to the output end of the first linear conveyor, the output end of the first steering conveyor is perpendicular to the second linear conveyor, the input end of the second steering conveyor is perpendicular to the second linear conveyor, and the output end of the second steering conveyor is connected to the input end of the first linear conveyor.

[0015] Specifically, a first steering mechanism and a second steering mechanism are respectively provided at the connection between the second linear conveying mechanism and the first steering conveying mechanism and the second steering conveying mechanism. 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, and the plane on which the second linear conveying mechanism is located is located on a second plane. The second plane is lower than the first plane.

[0016] 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. A first steering conveyor belt that matches the movement direction of the first steering conveying mechanism is provided in the first pallet lifting frame. 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.

[0017] 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.

[0018] Specifically, the first pallet positioning mechanism is a lifting stopper, and the second and third pallet positioning mechanisms both include a lifting stopper and a pallet lifting platform. The pallet positioning mechanism includes a fixed frame, and a lifting cylinder is respectively provided at the four corners of the fixed frame. The piston rod of the lifting cylinder is set upward, and a positioning frame is provided on the piston rod. The size of the positioning frame matches the size of the chassis.

[0019] Specifically, a proximity sensor is installed next to the lifting stopper at the location corresponding to the detection block, and the proximity sensor, the lifting stopper, and the pallet lifting platform are electrically connected to the controller.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] 1. This utility model provides a heliostat assembly mechanism, in which a lens placed in a tray passes through an adhesive application robot arm and a back plate loading robot arm in sequence. Adhesive is applied to the adhesive application points on the back of the lens, and the adhesive part of the back plate is aligned with the adhesive application points and assembled onto the lens. The material transfer robot arm takes the assembled heliostat out of the tray, realizing the fully automatic assembly of the heliostat.

[0022] 2. The conveying mechanism is equipped with a pallet positioning mechanism and a lifting stopper at the positions corresponding to the glue-applying robotic arm and the backplate loading robotic arm. The lifting stopper stops the pallet, and the pallet positioning mechanism lifts the pallet, accurately positioning and lifting the pallet, thus realizing the high-precision assembly of the heliostat. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a top view of the present invention;

[0025] Figure 3 This is a schematic diagram of the robotic arm for loading lenses in this practical application.

[0026] Figure 4 This is a schematic diagram of the front structure of the tray of this utility model;

[0027] Figure 5 This is a schematic diagram of the back structure of the tray of this utility model;

[0028] Figure 6 This is a schematic diagram of the pallet lifting platform structure of this utility model;

[0029] Figure 7 This is a schematic diagram of the first steering mechanism of this utility model;

[0030] Figure 8 This is a schematic diagram of the second steering structure of this utility model.

[0031] Reference numerals: 2. Lens loading robotic arm; 21. Mounting frame; 22. Suction cup; 23. Plasma cleaning head; 24. Vertical plate; 25. Slide table cylinder; 301. First linear conveyor mechanism; 302. First steering conveyor mechanism; 303. Second linear conveyor mechanism; 304. Second steering conveyor mechanism; 3051. Fixed frame; 3052. Lifting cylinder; 3053. Positioning frame; 3054. Support block; 3055. Positioning pin; 31. Lens loading section; 311. 312. First lifting stopper; 32. First proximity sensor; 33. Glue application section; 34. Second lifting stopper; 35. First pallet lifting platform; 36. Second proximity sensor; 37. Back panel assembly section; 38. Third lifting stopper; 39. Second pallet lifting platform; 30. Third proximity sensor; 31. First steering mechanism; 32. First base frame; 33. Third lifting cylinder; 34. First pallet lifting frame; 35. First steering conveyor belt; 345. First stopper; 346. First stop block; 347. First positioning wall; 348. Fourth proximity sensor; 35. First curing section; 351. Fourth lifting stopper; 352. Fifth proximity sensor; 36. Lens tray separation section; 361. Third tray lifting platform; 362. Fifth lifting stopper; 363. Sixth proximity sensor; 37. Second steering mechanism; 371. Second base frame; 372. Fourth lifting cylinder; 373. Second tray lifting mechanism Frame; 374, Second steering conveyor belt; 375, Second stopper; 376, Second stop block; 377, Second positioning wall; 378, Seventh 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, Leaving groove; 432, Misalignment groove; 433, Pallet positioning block; 5, Glue application robot arm; 6, Backplate loading robot arm; 7, Material transfer robot arm. Detailed Implementation

[0032] The embodiments of this utility model 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 this utility model.

[0033] In the description of this utility model, 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 this utility model 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 this utility model. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] like Figures 1-8 As shown, this utility model provides a heliostat assembly mechanism, including a conveying mechanism. A tray 4 is provided on the conveying mechanism to support the assembly of the heliostat and moves under the drive of the conveying device. Along the movement direction of the conveying mechanism, a lens loading robot arm 2, an adhesive application robot arm 5, a backplate loading robot arm 6, and a transfer robot arm 7 are sequentially arranged beside the conveying mechanism. The lens loading robot arm 2 picks up the lens and places it into the tray 4. The adhesive application robot arm 5 applies adhesive to the adhesive application points on the back of the lens. The backplate loading robot arm 6 picks up the heliostat backplate and aligns the adhesive part of the heliostat backplate with the adhesive application points before placing it on the lens. The transfer robot arm 7 removes the assembled heliostat from the tray 4, realizing the automatic assembly of the heliostat.

[0035] The conveying mechanism 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 planes of the first linear conveyor 301, the first steering conveyor 302, and the second steering conveyor 304 are located on a first plane, while the plane of the second linear conveyor 303 is located on a second plane, which is lower than the first plane. The first linear conveyor 301 and the second linear conveyor 303 are top-roller chain conveyors with top-roller chains on both sides. The first steering conveyor 302 and the second steering conveyor 304 are 90° roller conveyors. Straight sections are provided at both the input and output ends of the first steering conveyor 302 and the second steering conveyor 304 to provide a smooth transition for the movement of the pallet 4 and prevent the pallet 4 from shifting.

[0036] The first linear conveyor 301 is driven by a first drive device, the first steering conveyor 302 is driven by a second drive device, the second linear conveyor 303 is driven by a third drive device, and the second steering conveyor 304 is driven by a fourth 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.

[0037] The conveying mechanism is used to transport pallet 4 in a cyclical manner. Pallet 4 passes sequentially through the first linear conveyor 301, the first deflecting conveyor 302, the second linear conveyor 303, and the second deflecting conveyor 304, where the heliostat is assembled. The first linear conveyor 301 is equipped with a lens loading section 31, an adhesive application section 32, and a backplate assembly section 33. The second linear conveyor 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.

[0038] Multiple robotic arms are installed along the conveying mechanism to perform processes such as loading, gluing, assembly, and unloading. Lens loading robotic arm 2 is located on one side of the loading section 31, picking up lenses from designated points and placing them on 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 tray 4. Backplate loading robotic arm 6 is located on one side of the backplate assembly section 33, picking up heliostat backplates that have passed the backplate flatness detection system and assembling them onto the lenses. A material transfer robotic arm 7 is located next to the lens tray separation section 36 to remove the assembled heliostats from tray 4.

[0039] The tray 4 is placed in the conveying mechanism and includes a tray body 41. A bearing surface 42 is provided on the tray body 41, and 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.

[0040] 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 to avoid scratching the lens when in contact with the front of the lens. 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.

[0041] The chassis 43, located at the bottom of the pallet body 41, is a square frame structure made of rubber. Limiting walls are provided on both sides of the conveying mechanism, 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. This allows the stopper controlling the pallet 4 to pass through the front end of the pallet 4 and stop it from the inside during turning. Clearance grooves 431 are provided at the four corners of the chassis 43 to allow the chassis 43 to make way for the blocks restricting the position of the pallet 4 when turning. Since the pallet 4 rotates 180° for each revolution in the conveying mechanism, 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 stopper in different orientations, the stopper can pass through the misalignment grooves 432.

[0042] 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.

[0043] In the conveying mechanism, a first pallet positioning mechanism, a second pallet positioning mechanism, a third pallet positioning mechanism, and a fourth pallet positioning mechanism are respectively set at the positions corresponding to the lens loading robot arm 2, the glue application robot arm 5, the back plate loading robot arm 6, and the material transfer robot arm 7. The first pallet positioning mechanism is a lifting stop, and the second, third, and fourth pallet positioning mechanisms include a lifting stop and a positioning frame.

[0044] The lifting stopper has a pneumatically driven, upward-extending piston rod and a horizontally positioned damper. The piston rod of the damper faces the feeding direction, and the damper slowly stops tray 4 by damping. When the vertical piston rod extends, the damper stops tray 4; when the vertical piston rod retracts, tray 4 is released. This lifting stopper is existing technology, and its internal structure will not be described in detail here.

[0045] The pallet lifting platform includes a fixed frame 3051 fixedly installed between two top roller chains. The fixed frame 3051 is square. A lifting cylinder 3052 is set at each of the four corners of the fixed frame 3051. The piston rod of the lifting cylinder 3052 is set vertically upward. 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 under 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 groove 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.

[0046] 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. Vacuum suction is used to pick up the lens from the lens positioning mechanism and move it to the conveying mechanism. 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 the piston rod of the sliding cylinder 25 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 microparticles 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.

[0047] 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.

[0048] 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 first proximity sensor 312 is provided. The first proximity sensor 312 is electrically connected to the controller. The position of the detection block 423 is detected by the first 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.

[0049] When the probe block 423 of the tray 4 moves to the position of the first 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.

[0050] 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 second proximity sensor 323 is installed on the outside of the top roller conveyor belt, next to the second lifting stop 321. The second proximity sensor 323 is electrically connected to the controller. The second proximity sensor 323 detects the position of the detection block 423, controlling the second lifting stop 321 to rise and stop the pallet 4 in the corresponding position, after which the first pallet lifting platform 322 lifts the pallet 4.

[0051] When the tray 4 moves to the position of the second 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 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 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 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.

[0052] A backplate loading robot arm 6 is installed next to the backplate assembly section 33. The backplate loading robot arm 6 picks up the heliostat backplates that have passed the backplate flatness detection system from a fixed point and moves them onto the tray 4. The end of the backplate loading robot arm 6 is equipped with a gripper, and a clamping mechanism is symmetrically arranged in the gripper. The clamping mechanism picks up the backplate from the fixed point through a plug-in column and a cylinder-driven clamping rod. The gripper structure of the backplate loading robot arm 6 and the backplate flatness detection system are existing technologies, which can be found in patent CN107283145B, and will not be described in detail here.

[0053] 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 third proximity sensor 333 is located next to the third lifting stop 331 and is electrically connected to the controller. The third 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.

[0054] 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.

[0055] 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.

[0056] After passing through the first steering conveyor mechanism 302, the pallet 4 turns 90° and changes from lateral transport to longitudinal transport. The output end of the first steering conveyor mechanism 302 is provided with a first steering mechanism 34, which is located between the two top roller chains of the second linear conveyor mechanism 303. The first steering mechanism 34 positions the pallet 4 after it has been turned by the first steering conveyor mechanism 302 and moves it vertically into the second linear conveyor mechanism 303, thus achieving a smooth transition from the first steering conveyor mechanism 302 to the second linear conveyor mechanism 303.

[0057] 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 lifting frame 343. The direction and speed of movement of the first steering conveyor belt 344 match the direction of movement 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.

[0058] 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.

[0059] After pallet 4 passes the third proximity sensor 333, the third 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 fourth 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 onto the fourth 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.

[0060] 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, a corresponding fifth proximity sensor 352 is set next to each fourth lifting stop 351. When the detection block 423 of the tray 4 moves to the fifth proximity sensor 352, the piston rod of the fourth lifting stop 351 extends and lifts the damper. The damper makes the tray 4 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 adhesion between the backplate and the lens.

[0061] 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 7. The fifth lifting stopper 362 is located at the front end of the third tray lifting platform 361. A sixth proximity sensor 363 is located outside the second linear conveyor 303, next to the fifth lifting stopper 362. The sixth proximity sensor 363 is electrically connected to the controller. The sixth proximity sensor 363 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 7. The third tray lifting platform 361 then lifts the tray 4 to position it.

[0062] The transfer robot arm 7 picks up the heliostat from the third pallet lifting platform 361 at a fixed point, flips the heliostat, and transports it to the secondary curing mechanism with the lens facing upwards. In the secondary curing mechanism, the lens continues to undergo natural curing of the adhesive. With the heliostat's mirror surface facing upwards and the back plate in direct contact with the secondary curing mechanism, the lens maintains its concave curvature. After the transfer robot arm 7 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.

[0063] 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 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 driving 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 two second positioning walls 377 matches the side length of the chassis 43. 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.

[0064] 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. A seventh proximity sensor 378 is provided at the front end of the second steering conveyor belt 374 and on the outside of the second linear conveyor mechanism 303. The seventh proximity sensor 378 is electrically connected to the controller. When the seventh proximity sensor 378 detects the sensing block located in front of the pallet 4, it sends an electrical signal to the controller, controlling the fourth lifting cylinder 372 to raise the second pallet lifting frame 373 to the second height. Subsequently, the seventh drive device drives the second steering conveyor belt 374 to transfer the pallet 4 into the second steering conveyor mechanism 304. When the second steering conveyor belt 374 turns the pallet 4, the second stop block 376 avoids colliding with the chassis 43 because a clearance groove 431 is provided at the bottom of the pallet 4.

[0065] 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.

[0066] The automated assembly process for heliostats is as follows:

[0067] S1: The lens loading robot arm 2 picks up 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.

[0068] S2: 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.

[0069] S3: 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.

[0070] S4: 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.

[0071] S5: The pallet 4 moves under the drive of the second linear conveyor 303. The fourth lifting stopper 351 in the multiple second linear conveyors 303s 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.

[0072] S6: The fifth lifting stopper 362 stops the tray 4, the third tray lifting platform 361 lifts the tray 4 and positions it, the material transfer robot arm 7 grabs the heliostat in the tray 4, flips the heliostat so that the heliostat is placed face up on the secondary curing mechanism, and after the heliostat is removed, the fifth lifting stopper 362 and the third tray lifting platform 361 lower down to release the tray 4.

[0073] S7: Under the drive of the second linear conveyor 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 304 and rotates synchronously with the second steering conveyor 304, so that the pallet 4 is turned into the second steering conveyor 304. The pallet 4 is rotated 90° by the second steering conveyor 304 into the linear conveyor and is stopped by the first lifting stopper 311.

[0074] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model 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 this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A heliostat assembly mechanism, characterized in that, The system includes a conveying mechanism, on which a tray (4) is provided. Along the direction of movement of the conveying mechanism, 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 (7) are arranged sequentially beside the conveying mechanism. The conveying mechanism is equipped with a first tray positioning mechanism, a second tray positioning mechanism, a third tray positioning mechanism and a fourth tray positioning mechanism at the positions corresponding to 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 (7), so that the tray (4) stops 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 (7), respectively. The tray (4) is used to support the assembly of the heliostat and moves under the drive of the conveying mechanism; The lens loading robotic arm (2) is used to pick up lenses and place them 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. The material handling robot arm (7) is used to remove the heliostat assembled in the tray (4).

2. The heliostat assembly mechanism according to claim 1, characterized in that, The tray (4) includes a tray body (41), a bearing surface (42) is provided on the tray body (41), a base plate (43) is provided at the bottom of the tray body (41), a probe block (423) is provided at the bottom edge of the bearing surface (42) along the length direction, the base plate (43) is a square frame structure, and a tray positioning block (433) is provided at the four corners of the inner side of the frame structure of the base plate (43) at the bottom of the tray body (41), and a groove is provided in the tray positioning block (433).

3. The heliostat assembly mechanism according to claim 2, characterized in that, On the bearing surface (42), there are multiple adjusting bolts (422) arranged in a circular pattern on a circle with different radii. The height of the nut of the adjusting bolt (422) decreases sequentially as the radius of the circle increases, and the upper surface of the nut is arc-shaped.

4. The heliostat assembly mechanism according to claim 2, characterized in that, The chassis (43) is provided with centrally symmetrical offset grooves (432) on each side, and the offset grooves (432) on opposite sides are staggered. The chassis (43) is provided with clearance grooves (431) at the four corners.

5. The heliostat assembly mechanism according to claim 4, characterized in that, The conveying mechanism is a ring conveying mechanism, including a first linear conveying mechanism (301), a first turning conveying mechanism (302), a second linear conveying mechanism (303), and a second turning conveying mechanism (304) connected in sequence.

6. The heliostat assembly mechanism according to claim 5, characterized in that, 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). The input end of the second steering conveyor (304) is perpendicular to the second linear conveyor (303). The output end of the second steering conveyor (304) is connected to the input end of the first linear conveyor (301).

7. The heliostat assembly mechanism according to claim 6, characterized in that, 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 linear conveying mechanism (303) is located is on a second plane. The second plane is lower than the first plane.

8. The heliostat assembly mechanism according to claim 7, 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 first 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 of the first steering conveying mechanism (302) near the first pallet lifting frame (343). 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).

9. The heliostat assembly mechanism according to claim 2, characterized in that, The first pallet positioning mechanism is a lifting stopper. The second, third and fourth pallet positioning mechanisms all include a lifting stopper and a pallet lifting platform. The pallet positioning mechanism includes a fixed frame (3051). A lifting cylinder (3052) is provided at each of the four corners of the fixed frame (3051). The piston rod of the lifting cylinder (3052) is set upward. A positioning frame (3053) is provided on the piston rod. The size of the positioning frame (3053) matches the size of the chassis (43).

10. The heliostat assembly mechanism according to claim 9, characterized in that, A proximity sensor is installed next to the lifting stopper at the position of the corresponding detection block (423). The proximity sensor, the lifting stopper and the pallet lifting platform are electrically connected to the controller.

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