Tower CSP heliostat cleaning vehicle

Abstract

The present invention relates to the field of cleaning equipment, in particular to a tower type photothermal heliostat cleaning vehicle, which structure comprises a cleaning component and a mechanical arm, a truss is provided at the end of the mechanical arm, the cleaning components are arranged and mounted on the truss, distance measuring sensors are provided on both the left and right sides behind the truss, and a distance measuring sensor is provided in front of the truss, the cleaning component comprises a brush wheel and a displacement component, the arranged brush wheels form a working area of ​​the cleaning component, the cleaning component further comprises a baffle component connected to the displacement component, the baffle component moves synchronously with the brush wheel, and a plurality of baffle components form three-sided blocking in the working area. On the basis of retaining the vertical state for working, the present invention allows the truss to be in a horizontal state to drive the cleaning component to perform a cleaning method from top to bottom of the heliostat with a better cleaning effect, so that some heavily contaminated heliostats can be targeted and carefully cleaned, and when cleaning downwards, the baffles arranged on three sides are used to block the cleaning sewage to prevent the cleaning sewage from affecting the cleaned area.

Description

Technical Field

[0001] The invention relates to the field of cleaning equipment, in particular to a tower-type photothermal heliostat cleaning vehicle. Background Art

[0002] Tower thermal heliostat is a key component in tower thermal power generation systems. Its function is to reflect and focus sunlight onto the receiver at the top of the tower. Compared with traditional solar power generation, it can accumulate a large amount of thermal energy when the sunlight is strong due to the use of photothermal conversion. Even in the absence of sunlight, it can continue to generate electricity for a period of time through the stored thermal energy.

[0003] Heliostats are usually cleaned by a heliostat cleaning vehicle. The cleaning vehicle is connected to a water tank and a high-pressure pump to spray water onto the surface of the heliostat through a robotic arm pipe and a spray device, and is used in conjunction with a brush wheel or a dust suction device to achieve the effect of cleaning the mirror surface.

[0004] However, when the cleaning vehicle is in use, it usually sweeps the brush wheels arranged in a straight line vertically across the heliostats for cleaning. The advantage of this is that it can clean all the way along with the vehicle. Although the inclination angles of the heliostats arranged in succession are roughly the same, the orientation angles are quite different. Therefore, when transitioning between two adjacent heliostats, some areas may not be effectively cleaned, so the cleaning effect of a single heliostat is not good, especially for some heliostats with heavy pollution. In addition, the brush wheel rotates when working, and the sewage generated by cleaning the next area is easily thrown back to the cleaned area, affecting the overall cleaning effect. Summary of the invention

[0005] In view of the above problems, the present invention provides a tower-type solar thermal heliostat cleaning vehicle, which structure includes a cleaning component and a mechanical arm installed on a vehicle body, a truss is provided at the end of the mechanical arm, the cleaning component is arranged and installed on the truss, the cleaning component includes a brush wheel for brushing the heliostat and a displacement component for moving the position of the brush wheel, the arranged brush wheels form a working area of ​​the cleaning component, the displacement component is installed on the truss and forms a four-bar linkage, the truss and the brush wheel are respectively arranged at two opposite sides of the four-bar linkage, and the displacement component is used to control the spacing between the brush wheel and the heliostat; the cleaning component also includes a spray component, the spray component includes a pre-spray pipe and a cleaning spray pipe, the pre-spray pipe and the cleaning spray pipe are both provided with nozzles and are respectively arranged at the rear and front of the working area of ​​the cleaning component; the cleaning component The component also includes an enclosure component for separating and blocking the working area and the cleaned area of ​​the cleaning component, the enclosure component is connected to the displacement component through an extension frame, and the enclosure component moves synchronously with the brush wheel; the plurality of enclosure components include at least three arrangement positions, the first arrangement position is located in front of the working area of ​​the cleaning component, the second and third arrangement positions are respectively located on the left and right sides of the working area of ​​the cleaning component, and the plurality of enclosure components form a three-sided blockage in the working area; at least two ranging sensors are also provided on the truss, the left and right sides of the rear of the truss are both provided with ranging sensors, and the distances between the ranging sensors and the heliostats detected by the ranging sensors are set as BD1 and BD2, and a ranging sensor is provided in front of the truss, and the distance between the ranging sensor and the heliostats detected by the ranging sensor is set as FD1.

[0006] Further, in a position where the truss is parallel to the length direction of the vehicle body, the robotic arm records the basic direction position; the vehicle body includes a working state, in which the vehicle body moves in a direction parallel to the front edge of the heliostat, and the robotic arm drives the truss and the cleaning assembly to move onto the surface of the heliostat in the basic direction position; the cleaning assembly includes a working state, in which BD1=BD2, and FD1=(BD1±H)+K, H is the distance difference between the installation positions of the ranging sensors in front and rear of the truss in a direction perpendicular to the mirror surface of the heliostat, and K is a set margin value.

[0007] Furthermore, the displacement assembly comprises a movable frame, the brush wheel is mounted on the movable frame and a rotary driver is provided on the movable frame for driving the brush wheel to rotate.

[0008] Furthermore, the displacement assembly includes a top frame and a connecting frame, the top frame is fixed on the truss, one end of the connecting frame is hinged to the top frame and the other end is hinged to the movable frame; the displacement assembly also includes a linkage arm, both ends of the linkage arm are hinged to the top frame and the movable frame respectively, and there is a spacing between the hinge connection point and the hinge connection points at both ends of the connecting frame, so that a four-bar mechanism is formed by the top frame, the connecting frame, the movable frame and the linkage arm; the truss is provided with a push-pull drive, the push-pull drive has a movable arm, and the movable arm is connected to the connecting frame for driving the connecting frame to swing.

[0009] Furthermore, the top frame, the connecting frame, the movable frame and the linkage arm form a parallelogram four-bar linkage.

[0010] Furthermore, the enclosure assembly includes a baffle, which is used to separate and block the working area and the cleaned area of ​​the cleaning assembly. The baffle is connected to the movable frame through an extension frame, so that it is moved synchronously with the brush wheel and driven by the four-bar mechanism; the enclosure assembly also includes a blocking brush, which is arranged at the bottom end of the baffle for contacting the heliostat, and the blocking brush includes bristles arranged at the bottom of the baffle.

[0011] Furthermore, the baffle is swingably connected to the extension frame, the extension frame is provided with an upper extension portion extending upward, the baffle is hingedly connected to the upper extension portion, a reciprocating drive is provided on the extension frame below the upper extension portion and connected to the baffle, the reciprocating drive is used to drive the baffle to swing back and forth with the hinge connection point as the swing fulcrum.

[0012] Furthermore, the enclosure assembly also includes an internal cleaning pipe, which is used to supply water to the blocking brush when the blocking brush at the bottom end of the baffle is against the heliostat and swings back and forth; the internal cleaning pipe is installed on the baffle, and the baffle is provided with a downward internal flow channel, the internal cleaning pipe has a nozzle and the sprayed water flows along the internal flow channel toward the blocking brush under the baffle; the blocking brush is connected to the baffle through a brush row, and the brush row is provided with inter-beam holes, and the internal flow channel is connected with the outside of the baffle and the external blocking brush through the inter-beam holes.

[0013] Furthermore, the blocking brush formed by arranged bristles includes side baffle sections and corner baffle sections, the bristles of the side baffle sections and the corner baffle sections are arranged in a straight line, the side baffle sections are arranged in a zigzag manner in an undulating and staggered manner at the bottom end of the baffle plate, and the corner baffle sections are arranged at the tip of the zigzag structure of the side baffle section arrangement.

[0014] Furthermore, the bottom end of the blocking brush is flush with or deeper than the bottom plane of the brush wheel; the length of the blocking brush is greater than two-thirds of the length of the brush wheel compressed along the axial direction.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The present invention maintains the vertical state for operation, and allows the truss to be in a horizontal state to drive the cleaning assembly to perform a top-to-bottom cleaning method for the heliostat with a better cleaning effect, so that some heavily contaminated heliostats can be cleaned in detail. The top-to-bottom cleaning method is consistent with the direction of the water flow. In the process of continuous downward scrubbing, the water flow mainly flows to the lower uncleaned area, and the cleaning water flow will not flow to the sides like the vertical cleaning method of the prior art to affect the cleaned area.

[0017] When the brush wheel of the present invention cleans the heliostat downward, the upper baffle plate blocks the sewage from being thrown back to the cleaned area above, and the left and right baffle plates prevent the surrounding heliostats from being affected. In addition, in order to prevent the baffle plate from rigidly squeezing the heliostat, a blocking brush is provided at the bottom of the baffle plate for contacting the heliostat, and the water flow is blocked by the arranged bristles, while the compression depth of the brush wheel on the heliostat can also be adapted.

[0018] The present invention utilizes a reciprocating drive to drive the baffle plate to swing back and forth, so that the blocking brush is rubbed back and forth on the heliostat, and at the same time, the blocking brush is rinsed by spraying water through an internal cleaning pipe, so that not only the blocking brush that blocks the cleaning sewage can be self-cleaned, but also the area at the bottom of the heliostat where sewage is easily accumulated can be further cleaned. When the water flow rinses the blocking brush, the area at the bottom of the heliostat where sewage is easily accumulated can be further cleaned, thereby obtaining a better cleaning effect;

[0019] The present invention utilizes the serrated side blocking segments to reduce the density of the blocking brush while retaining the blocking surface for the water flow, thereby avoiding unnecessary excessive pressure on the heliostat during subsequent scrubbing operations, and facilitating scrubbing, thereby avoiding excessively high density that causes the bristles to accumulate too thickly when being pressed and bent, thereby affecting the cleaning effect. The corner blocking segments are arranged at the tips of the serrated structures of the side blocking segments to supplement the blocking of the weak points of the blocking surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the tower type photothermal heliostat cleaning vehicle of the present invention performing cleaning in a horizontal state.

[0021] Figure 2 It is a schematic diagram of the basic three-dimensional structure of the truss and cleaning components of the present invention.

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the truss, cleaning assembly and enclosure assembly of the present invention.

[0023] Figure 4 It is a top view and a side view schematic diagram of the distributed travel of the enclosure assembly of the present invention.

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the cleaning component and the enclosure component of the present invention.

[0025] Figure 6 It is a schematic diagram of the three-dimensional structure of the enclosure assembly of the present invention and a top view schematic diagram of the distribution of the blocking brushes.

[0026] Figure 7 It is a schematic diagram of the side state of the brush wheel and the blocking brush of the present invention working in a bending state on the heliostat and a schematic diagram of the top view state of the blocking brush bending on the heliostat.

[0027] In the figure: A, heliostat; 1, robotic arm; 2, truss; 3, cleaning assembly; 4, pre-spray pipe; 5, ranging sensor;

[0028] 11. Rear arm; 12. Middle arm; 13. Forearm; 14. Wrist; 31. Brush wheel; 32. Displacement assembly; 33. Enclosure assembly; 34. Extension frame; 35. Cleaning spray pipe; 36. Reciprocating drive;

[0029] 321, connecting frame; 322, movable frame; 323, linkage arm; 324, top frame; 325, push-pull drive; 326, rotation drive; 331, baffle; 332, continuous brush row; 333, blocking brush; 334, internal cleaning pipe; 341, upper extension;

[0030] 331a, inner flow channel; 332a, inter-beam hole; 333a, side block section; 333b, corner block section. DETAILED DESCRIPTION

[0031] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] Examples, such as Figure 1-Figure 7As shown: The present invention provides a tower-type solar thermal heliostat cleaning vehicle, which is installed on the body of the cleaning vehicle. Its structure includes a cleaning component 3 and a mechanical arm 1 installed on the body. The mechanical arm 1 includes a rear arm 11, a middle arm 12 and a front arm 13 extending outward from the body. A rotating wrist 14 is also provided at the end of the front arm 13. The rear arm 11 is also rotatably connected to the body. It can be seen that the wrist 14 of the mechanical arm 1 of the industrial robot has a high degree of freedom. A truss 2 is provided at the wrist 14 at the end of the mechanical arm 1. The truss 2 has a certain length. The cleaning component 3 is arranged along the length direction of the truss 2 and installed on the truss 2. The cleaning component 3 includes a brush wheel 31 for brushing the heliostat A, and the arranged brush wheels 31 form a working area of ​​the cleaning component 3. At least two distance measuring sensors 5 are also arranged on the truss 2. The distance measuring sensors 5 are arranged on the left and right sides of the rear of the truss 2. In the traditional vertical state, the mechanical arm 1 drives the truss 2 to turn vertically, and then tilts toward the heliostat A along the inclination angle of the surface of the heliostat A. Then, the degrees of the two distance measuring sensors 5 are roughly the same or within the allowable margin range, so that the truss 2 is roughly parallel to the surface of the heliostat A. At this time, the cleaning vehicle drives the truss 2 while driving to use the brush wheel 31 to perform horizontal cleaning on the heliostat A;

[0033] As for the distance measuring sensor 5 , those skilled in the art may select an infrared or ultrasonic sensor according to actual needs, and it is sufficient to achieve the function of measuring the distance from the sensor to the target position, which will not be elaborated here.

[0034] In this embodiment, the mechanical arm 1 controls the truss 2 to maintain the vertical state to work, so that the truss 2 is in a horizontal state to perform a cleaning method from top to bottom for the heliostat A with a better cleaning effect, including a positioning part, a blocking part and a blocking self-cleaning part;

[0035] First: for the positioning part, at this time, the truss 2 is in a state of being horizontal with the ground, the side of the truss 2 close to the heliostat A is the front and the side away from the heliostat A is the rear, the left and right sides of the rear of the truss 2 are provided with ranging sensors 5 and the distances between the ranging sensors 5 and the heliostat A are set as BD1 and BD2, the front of the truss 2 is provided with a ranging sensor 5 and the distance between the ranging sensor 5 and the heliostat A is set as FD1, and at the same time, the mechanical arm 1 records the basic direction position in the position where the truss 2 is parallel to the length direction of the vehicle body, that is, the mechanical arm 1 is in a state of carrying the truss 2 horizontally to the side of the vehicle body, As the basic direction position of the robot arm 1, this basic direction position does not include the height of the end truss 2, and only indicates the direction of the working range and working direction of the robot arm 1. The vehicle body has a working state of moving in a direction parallel to the front edge of the heliostat A, and the robot arm 1 drives the truss 2 and the cleaning assembly 3 to move to the surface of the heliostat A in the basic direction position. This is intended to indicate the positional relationship between the robot arm 1, the truss 2 and the heliostat A. The vehicle body stops in front of the heliostat A on the path of moving in a direction parallel to the front edge of the heliostat A, and drives the truss 2 to move to the heliostat A in the basic direction position of the robot arm 1.

[0036] Subsequently, the robot arm 1 drives the truss 2 and the cleaning assembly 3 to enter the working state on the heliostat A, that is, the state in which the cleaning assembly 3 cleans the heliostat A. In the working state, BD1=BD2, thereby determining the approximate parallelism between the truss 2 and the heliostat A. Since the positional relationship between the truss 2 and the heliostat A was roughly restricted by the two angles of the basic orientation position of the robot arm 1 and the vehicle body and the position of the vehicle body and the heliostat A, the truss 2 moved to the heliostat A can easily reach the state of BD1=BD2, and FD1=(BD1±H)+K, where H is the distance between the installation positions of the distance measuring sensors 5 in front and behind the truss 2 in the direction perpendicular to the mirror surface of the heliostat A. The value of H can be 0, that is, the distances from the heliostat A in the installation positions of the front and rear ranging sensors 5 are roughly the same, and can also be set according to the actual installation position; K is the set margin value, that is, the range of the brush wheel 31 allowed to tilt forward and backward on the heliostat A. Because when H is unchanged, FD1=BD1+K, the front end of the truss 2 will be farther away from the heliostat A when the K value increases, and the front end of the truss 2 will be closer to the heliostat A when the K value is smaller; thereby, the horizontal truss 2 is positioned at a distance from the heliostat A. After the distance is determined, a known tilt path is formed according to the current known tilt angle of the heliostat A, so that the mechanical arm 1 drives the truss 2 and the cleaning component 3 to clean the heliostat A from top to bottom;

[0037] A person skilled in the art may set the K value according to actual needs, which is usually less than one-third of the length of the brush wheel 31 compressed along the axial direction. That is, regardless of whether the brush wheel 31 is a brush structure with the brush arranged at the bottom, or a brush wheel structure wrapped with fluff or cloth, the compressible length in the axial direction is used as a reference. In the present embodiment, the brush wheel 31 adopts a brush structure with the brush arranged at the bottom.

[0038] At the same time, the cleaning component 3 also includes a spray component connected to a water tank provided on the vehicle body, and the spray component includes a pre-spray pipe 4 and a cleaning spray pipe 35. The pre-spray pipe 4 and the cleaning spray pipe 35 are both provided with nozzles and are respectively arranged at the rear and front of the working area of ​​the cleaning component 3. Since the cleaning is performed from top to bottom, the pre-spray pipe 4 located at the rear of the working area can pre-spray and wet the heliostat A, and then the brush wheel 31 of the cleaning component 3 moves downward into the range of the heliostat A for cleaning. During the cleaning process, the cleaning spray pipe 35 sprays and cleans the area being cleaned.

[0039] It should be noted that, in order to deal with the possible spacing problem between the truss 2 and the heliostat A when the truss 2 is working in a horizontal state while maintaining a vertical state, the cleaning assembly 3 includes a displacement assembly 32 for moving the position of the brush wheel 31, the displacement assembly 32 is mounted on the truss 2 and forms a four-bar linkage, the truss 2 and the brush wheel 31 are respectively arranged at two opposite sides of the four-bar linkage, the displacement assembly 32 is used to control the spacing between the brush wheel 31 and the heliostat A, specifically, the displacement assembly 32 includes an active The movable frame 322, the brush wheel 31 is mounted on the movable frame 322 and a rotation driver 326 is provided on the movable frame 322 for driving the brush wheel 31 to rotate. It is known that the rotation driver 326 adopts a motor and also includes a top frame 324 and a connecting frame 321. The top frame 324 is fixed on the truss 2. One end of the connecting frame 321 is hingedly connected to the top frame 324 and the other end is hingedly connected to the movable frame 322; the displacement assembly 32 also includes a linkage arm 323, and the two ends of the linkage arm 323 are respectively connected to the top frame 324 and the movable frame 322. The top frame 324, the connecting frame 321, the movable frame 322 and the linkage arm 323 form a four-bar linkage. The truss 2 is provided with a push-pull driver 325, which has a movable arm and is connected to the connecting frame 321 to drive the connecting frame 321 to swing up and down. It is known to those skilled in the art that the push-pull driver 325 can be an electric cylinder, a pneumatic cylinder or the like. The telescopic push-pull function is achieved, thereby driving the brush wheel 31 to approach the heliostat A, and further providing a top frame 324, a connecting frame 321, a movable frame 322 and a linkage arm 323 to form a parallelogram four-bar mechanism, so that the brush wheel 31 can maintain the original position or a state substantially parallel to the heliostat A to approach the heliostat A, and the front and rear position movement of the brush wheel 31 caused by the movement of the displacement assembly 32 will not cause a working area deviation to the cleaning area as long as it is still between the front and rear ranging sensors 5.

[0040] Second, for the blocking part, the cleaning component 3 also includes a fence component 33 for separating and blocking the working area and the cleaned area of ​​the cleaning component 3. The fence component 33 is connected to the displacement component 32 through the extension frame 34, and the fence component 33 moves synchronously with the brush wheel 31; the plurality of fence components 33 include at least three arrangement positions, the first arrangement position is located in front of the working area of ​​the cleaning component 3, and the second and third arrangement positions are respectively located on the left and right sides of the working area of ​​the cleaning component 3. The plurality of fence components 33 form a three-sided blockage on the left, top and right sides of the heliostat A in the working area. The fence component 33 includes a baffle 331, and the baffle 331 is used to separate and block the working area and the cleaned area of ​​the cleaning component 3. When cleaning downward, the upper baffle 331 blocks the sewage cleaned below from being thrown back to the cleaned area above, and the left and right baffles 331 prevent the surrounding heliostats A from being affected;

[0041] At the same time, the baffle 331 is connected to the movable frame 322 through the extension frame 34, so that it is driven by the four-bar linkage to move synchronously with the brush wheel 31. When the brush wheel 31 approaches the heliostat A, the baffle 331 also follows and approaches the heliostat A. When the brush wheel 31 approaches the heliostat A for cleaning, axial compression needs to occur. In order to prevent the baffle 331 from causing rigid extrusion of the heliostat A, the enclosure assembly 33 also includes a blocking brush 333. The blocking brush 333 is arranged at the bottom end of the baffle 331 for contacting the heliostat A. The blocking brush 333 includes bristles arranged at the bottom of the baffle 331, and the arranged bristles are used to block the water flow. At the same time, it can also adapt to the compression depth of the brush wheel 31 on the heliostat A.

[0042] It should be noted that the bottom end of the blocking brush 333 is flush with or deeper than the bottom plane of the brush wheel 31, that is, after the brush wheel 31 is driven and positioned in place by the robot 1, the distance between the bottom end of the blocking brush 333 and the heliostat A is equal to or slightly smaller than the distance between the bottom plane of the brush wheel 31 and the heliostat A, and the length of the blocking brush 333 is greater than two-thirds of the length of the brush wheel 31 compressed along the axial direction, so as to avoid the blocking brush 333 being too short and having insufficient bending stroke, and also to avoid unnecessary excessive pressure on the heliostat A during bending.

[0043] Third, for the blocking self-cleaning part, the baffle 331 is swungly connected to the extension frame 34, and the extension frame 34 is provided with an upper extension portion 341 extending upward, and the baffle 331 is hingedly connected to the upper extension portion 341. A reciprocating driver 36 is provided on the extension frame 34 below the upper extension portion 341 and connected to the baffle 331. The reciprocating driver 36 is used to drive the baffle 331 to reciprocate with the hinge connection point as the swing fulcrum. It is known to those skilled in the art that the reciprocating driver 36 can be an electric cylinder, a pneumatic cylinder or other equipment, and it only needs to achieve the telescopic push-pull function, which can be the same as the push-pull driver 325. Therefore, when the heliostat A is cleaned from top to bottom, the baffle 331 is driven to swing back and forth by the reciprocating driver 36 at the bottom of the heliostat A, so that the blocking brush 333 is rubbed back and forth on the heliostat A, which can not only allow the blocking brush 333 that blocks the cleaning sewage to self-clean, but also can further clean the area at the bottom of the heliostat A where sewage is easily accumulated;

[0044] At the same time, the enclosure assembly 33 also includes an internal cleaning pipe 334, which is used to supply water to the blocking brush 333 when the blocking brush 333 at the bottom end of the baffle 331 is against the heliostat A and reciprocates; the internal cleaning pipe 334 is installed on the baffle 331, and the baffle 331 is provided with a downward internal flow channel 331a, the internal cleaning pipe 334 has a nozzle and the sprayed water flows along the internal flow channel 331a toward the blocking brush 333 below the baffle 331, and the blocking brush 333 is connected to the baffle 331 through a brush row 332, and the brush row 332 is provided with a beam hole 332a, and the internal flow channel 331a is connected with the outside of the baffle 331 and the external blocking brush 333 through the beam hole 332a, so that the water flows to the blocking brush 333 to rinse the blocking brush 333, and while rinsing the blocking brush 333, the area at the bottom of the heliostat A where sewage is easily accumulated can be further cleaned.

[0045] In summary, in a specific implementation, the vehicle body stops in front of the heliostat A on a path moving in a direction parallel to the front edge of the heliostat A, and the truss 2 is driven to move to the heliostat A in the basic direction of the robot arm 1. The truss 2 is in a horizontal state, and the distance between the horizontal truss 2 and the heliostat A is determined by positioning through the front and rear ranging sensors 5. After the distance is determined, a known inclined path is formed according to the currently known inclination angle of the heliostat A, and the robot arm 1 drives the truss 2 and the cleaning component 3 to clean the heliostat A from top to bottom; cleaning The cleaning assembly 3 starts from the top of the heliostat A. The pre-spray pipe 4 located at the rear of the working area pre-sprays and wets the heliostat A. Then the brush wheel 31 rotates and moves downward to enter the range of the heliostat A for cleaning. During the cleaning process, the cleaning spray pipe 35 sprays and cleans the area being cleaned. When the brush wheel 31 cleans the heliostat A from the top to the bottom in detail, the cleaning method from top to bottom is in line with the direction of the water flow. In the process of continuous downward brushing, the water flow mainly flows to the uncleaned area below, and the main cleaning water flow will not have the same The vertical cleaning method does not flow to both sides to affect the cleaned area, and during cleaning, the upper baffle 331 blocks the sewage from being thrown back to the cleaned area above, and the left and right baffles 331 prevent the surrounding heliostats A from being affected, thereby avoiding affecting the cleaned area; after the cleaning assembly 3 cleans the surface along the inclined direction of the heliostat A, the cleaning assembly 3 moves back until the side baffles 331 also move back to the surface of the heliostat A, and then is lifted a certain distance to allow the blocking brush 333 to remain on the curved surface of the heliostat A. state, and then the baffle plate 331 is driven to swing back and forth by the reciprocating driver 36, so that the blocking brush 333 is rubbed back and forth on the heliostat A. At the same time, the inner cleaning pipe 334 sprays water to make the water flow flush the blocking brush 333, which can not only allow the blocking brush 333 that blocks the cleaning sewage to self-clean, but also further clean the area on the bottom of the heliostat A where sewage is easily accumulated. While flushing the blocking brush 333, the water flow can also further clean the area on the bottom of the heliostat A where sewage is easily accumulated, thereby obtaining a better cleaning effect.

[0046] In this embodiment, the blocking brush 333 formed by the arrangement of bristles includes a side blocking section 333a and an angle blocking section 333b. Figure 6As shown, the bristles of the side baffle segment 333a and the corner baffle segment 333b are arranged in a straight line, and the side baffle segment 333a is arranged in a zigzag form in an undulating and staggered manner at the bottom of the baffle plate 331. The side baffle segment 333a is used to reduce the density of the blocking brush 333 while retaining the blocking surface, so as to avoid unnecessary excessive pressure on the heliostat A during subsequent scrubbing operations, and also facilitate scrubbing, so as to avoid excessive accumulation of bristles when the baffle is pressed down and bent due to high density, thereby affecting the cleaning effect. The corner baffle segment 333b is arranged at the tip of the zigzag structure arranged by the side baffle segment 333a, so as to supplement the blocking of the weak points of the blocking surface, thereby obtaining a better cleaning effect.

[0047] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A tower-type solar thermal heliostat cleaning vehicle, which comprises a cleaning assembly and a mechanical arm mounted on the vehicle body, and is characterized in that: A truss is provided at the end of the mechanical arm, the cleaning assembly is arranged and installed on the truss, the cleaning assembly includes a brush wheel for brushing the heliostat and a displacement assembly for moving the position of the brush wheel, the arranged brush wheels form a working area of ​​the cleaning assembly, the displacement assembly is installed on the truss and forms a four-bar linkage, the truss and the brush wheel are arranged at two opposite sides of the four-bar linkage, and the displacement assembly is used to control the spacing between the brush wheel and the heliostat; The cleaning assembly also includes a spray assembly, which includes a pre-spray pipe and a cleaning spray pipe, and the pre-spray pipe and the cleaning spray pipe are both provided with nozzles and are respectively arranged at the rear and front of the working area of ​​the cleaning assembly; The cleaning assembly further comprises a barrier assembly for separating and blocking the working area of ​​the cleaning assembly and the cleaned area, the barrier assembly being connected to the displacement assembly via an extension frame, and the barrier assembly and the brush wheel moving synchronously; The plurality of enclosure components include at least three arrangement positions, the first arrangement position is located in front of the working area of ​​the cleaning component, the second and third arrangement positions are located on the left and right sides of the working area of ​​the cleaning component respectively, and the plurality of enclosure components form a three-sided barrier in the working area; At least two ranging sensors are also provided on the truss. A ranging sensor is provided on both the left and right sides of the rear of the truss and the distances between the ranging sensor and the heliostat are set as BD1 and BD2. A ranging sensor is provided in front of the truss and the distance between the ranging sensor and the heliostat is set as FD1. The displacement assembly comprises a movable frame, the brush wheel is mounted on the movable frame and a rotary driver is provided on the movable frame for driving the brush wheel to rotate; The enclosure assembly includes a baffle, which is used to separate and block the working area and the cleaned area of ​​the cleaning assembly. The baffle is connected to the movable frame through an extension frame, so that it is driven by the four-bar linkage to move synchronously with the brush wheel; The enclosure assembly further includes a blocking brush, the blocking brush being arranged at the bottom end of the baffle plate for contacting the heliostat, the blocking brush including bristles arranged at the bottom of the baffle plate; The baffle is swingably connected to the extension frame, an upper extension portion extending upward is provided on the extension frame, the baffle is hingedly connected to the upper extension portion, a reciprocating drive is provided on the extension frame below the upper extension portion and connected to the baffle, the reciprocating drive is used to drive the baffle to reciprocate with the hinge connection point as the swing fulcrum; The enclosure assembly further includes an internal cleaning pipe, which is used to supply water to the blocking brush at the bottom end of the baffle when the blocking brush abuts against the heliostat and performs reciprocating swings; The inner cleaning pipe is installed on the baffle plate, and a downward inner flow channel is provided in the baffle plate. The inner cleaning pipe has a nozzle, and the sprayed water flows along the inner flow channel toward the blocking brush below the baffle plate. The blocking brush is connected to the baffle plate through a continuous brush row, and the continuous brush row is provided with beam holes, and the inner flow channel is connected to the outside of the baffle plate and the external blocking brush through the beam holes; The blocking brush formed by arranged bristles includes side baffle sections and corner baffle sections, the bristles of the side baffle sections and the corner baffle sections are arranged in a straight line, the side baffle sections are arranged in a zigzag manner in an undulating and staggered manner at the bottom end of the baffle plate, and the corner baffle sections are arranged at the tip of the zigzag structure of the side baffle sections.

2. The tower type photothermal heliostat cleaning vehicle according to claim 1, characterized in that: In the position where the truss is parallel to the length direction of the vehicle body, the mechanical arm records the basic direction position; The vehicle body includes a working state, in which the vehicle body in the working state moves in a direction parallel to the front edge of the heliostat, and the mechanical arm drives the truss and the cleaning assembly to move onto the surface of the heliostat in a basic direction position; The cleaning component includes a working state, in which BD1=BD2, and FD1=(BD1±H)+K, H is the distance difference between the installation positions of the ranging sensors in front and rear of the truss in the direction perpendicular to the heliostat mirror surface, and K is the set margin value.

3. The tower-type photothermal heliostat cleaning vehicle according to claim 1, characterized in that: The displacement assembly comprises a top frame and a connecting frame, wherein the top frame is fixed on the truss, one end of the connecting frame is hingedly connected to the top frame and the other end is hingedly connected to the movable frame; The displacement assembly further includes a linkage arm, the two ends of which are hinge-connected to the top frame and the movable frame respectively, and there is a distance between the hinge connection point and the hinge connection points at both ends of the connecting frame, so that a four-bar linkage is formed by the top frame, the connecting frame, the movable frame and the linkage arm; The truss is provided with a push-pull driver, which has a movable arm connected to the connecting frame for driving the connecting frame to swing.

4. The tower-type photothermal heliostat cleaning vehicle according to claim 3, characterized in that: The top frame, the connecting frame, the movable frame and the linkage arm form a parallelogram four-bar linkage mechanism.

5. The tower-type photothermal heliostat cleaning vehicle according to claim 1, characterized in that: The bottom end of the blocking brush is flush with or deeper than the bottom plane of the brush wheel; The length of the blocking brush is greater than two-thirds of the length of the brush wheel compressed along the axial direction.

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