Linear Fresnel type heat collection field main reflector cleaning robot and cleaning system thereof

Abstract

The invention discloses a linear Fresnel type heat collection field main reflector cleaning robot and a cleaning system thereof, and relates to the technical field of concentrating solar heat utilization, the linear Fresnel type heat collection field main reflector cleaning robot comprises a robot frame, and the robot frame is provided with a walking mechanism which drives the robot frame to linearly move along the surface of a reflector; a dust removal mechanism is arranged on the front side and / or the rear side of the walking mechanism in the advancing direction of the walking mechanism, the dust removal mechanism moves along with the robot frame and synchronously scrubs accumulated dust on the surface of the reflecting mirror, and multiple pairs of limiting mechanisms synchronously moving along with the robot frame are further arranged on the robot frame. The two limiting mechanisms in each pair of limiting mechanisms abut against the side face of the reflector in the width direction of the reflector in a sliding mode, automatic cleaning of the large-scale reflector can be achieved, the cleaning cost is reduced, the cleanliness of the reflector face of a heat collection field is improved to the maximum degree, and the heat collection capacity of the heat collection field is improved.

Description

Technical Field

[0001] The invention relates to the technical field of concentrated solar thermal utilization, and in particular to a linear Fresnel type thermal collector field main reflector cleaning robot and a cleaning system thereof. Background Art

[0002] China's northwest region is rich in direct solar radiation resources, and has vast land resources for the development of concentrated solar thermal systems and thermal power stations. However, the above-mentioned area is mostly desert, Gobi and wasteland landforms, and there are many windy and dusty weather. The concentrated solar thermal system uses large-scale reflectors to concentrate solar radiation energy into the thermal collection system, which is used to heat the heat transfer medium such as water, thermal oil or molten salt in the thermal collection device, thereby concentrating the low energy flux density of solar radiation energy into high energy flux density thermal energy. The concentrated solar thermal system has a large mirror field area and is prone to dust accumulation. Mirror cleaning has become an extremely important task in the operation and maintenance of the concentrated solar thermal system. The main reflector field of the linear Fresnel concentrator is composed of a large number of reflector units that are first connected in series to form a reflector array, and then the reflector array is combined in parallel. Mirror cleaning can traditionally be done by manual scrubbing, spraying with sprinkler trucks, and assisting with cleaning vehicles. However, the above methods have problems such as low cleaning efficiency, high operation and maintenance costs, low degree of automation, and easy damage to the reflector. The overall cleanliness of the mirror field is difficult to meet the design and operation standards. Insufficient cleanliness of the reflector surface causes the system's thermal collection performance to decline, which has seriously affected the system's thermal collection benefits.

[0003] Against the backdrop of the country's "dual carbon" strategic goals and the large-scale development of solar thermal power generation, the installed capacity of linear Fresnel and other concentrated solar energy is growing rapidly. How to efficiently achieve the cleaning of large-area solar collector fields has become a technical problem that needs to be solved urgently. Summary of the invention

[0004] The purpose of the present invention is to provide a linear Fresnel type solar collector field main reflector cleaning robot and its cleaning system to solve the problems existing in the above-mentioned prior art, to realize automatic cleaning of large-scale reflectors, to reduce cleaning costs, to maximize the cleanliness of the solar collector field reflector surface, and to increase the collection amount of the solar collector field.

[0005] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides a linear Fresnel type solar collector field main reflector cleaning robot, including a robot frame, the robot frame is provided with a walking mechanism for moving in a straight line along the surface of the reflector, the walking mechanism is provided with a dust removal mechanism along the front side and / or the rear side of the traveling direction, the dust removal mechanism moves with the robot frame and synchronously brushes the accumulated dust on the surface of the reflector, the robot frame is also provided with a plurality of pairs of limiting mechanisms that move synchronously therewith, and the two limiting mechanisms in each pair of the limiting mechanisms slide along the width direction of the reflector and abut against its side surface respectively.

[0006] Preferably, the dust removal mechanism is a brush roller rotatably mounted on the robot frame, the brush roller extends along the width direction of the reflector, and the width of the brush roller matches the width of the reflector, the outer peripheral surface of the brush roller slides against the surface of the reflector, and the robot frame is provided with a first driving mechanism for driving the brush roller to rotate.

[0007] Preferably, the limiting mechanism comprises a support rod mounted on the robot frame, the support rod extends downward to a side position of the reflector and is provided with a limiting roller abutting against the side surface of the reflector.

[0008] Preferably, a walking frame is provided at a middle position of the robot frame on one side close to the reflector surface, and the walking frame is symmetrically provided with crawler walking mechanisms on both sides perpendicular to its moving direction, and the crawler walking mechanisms support the robot frame to move along the surface of the reflector.

[0009] Preferably, the crawler walking mechanism is transmission-connected to the output end of the first driving mechanism, and gears with different speed ratios are transmission-connected between the crawler walking mechanism and the brush roller and the output end of the first driving mechanism respectively.

[0010] Preferably, the walking frame is provided with a power supply mechanism and a second driving mechanism for driving the crawler walking mechanism.

[0011] A cleaning system is also provided, comprising a cleaning robot, a plurality of reflector arrays that carry the cleaning robot and serve as cleaning objects, and a transfer mechanism arranged at both ends of the reflector arrays for transferring the cleaning robot;

[0012] Each of the reflector columns is arranged in parallel; the transfer mechanism includes a robot pallet, a pallet driving mechanism and transfer platforms arranged in pairs, each of the transfer platforms is arranged at both ends of each of the reflector columns, and a robot pallet is movably provided on each of the transfer platforms. The robot pallet is arranged at the same height as each of the reflector columns, and the pallet driving mechanism is installed on the transfer structure and drives the robot pallet to move along the transfer platform.

[0013] Preferably, the reflector array is equipped with a mirror array connecting rod driving mechanism for driving the reflector array to rotate to a specified angle, and the length of the transfer structure matches the span of each reflector array.

[0014] Preferably, the mirror array connecting rod driving mechanism includes a plurality of rotating rods evenly spaced along the arrangement direction of each of the reflector arrays, the rotating rods are equipped with a rotating rod driving mechanism for driving their rotation, and the rotating rods are arranged parallel to the reflector arrays and connected to the bottom surface of the reflector arrays.

[0015] Preferably, a detector for detecting whether the cleaning robot is aligned with the reflector array is provided on the robot tray.

[0016] Compared with the prior art, the present invention has achieved the following technical effects:

[0017] In the whole device, the robot frame is provided with a walking mechanism that moves along the surface of the reflector in a straight line. The walking mechanism is equipped with a power mechanism that provides power to it. The walking mechanism is provided with a dust removal mechanism along the front side and / or the rear side of the walking mechanism in the direction of travel. The robot frame is also provided with a plurality of limit mechanisms that move synchronously with it, which are used to ensure that the cleaning robot does not shift laterally during the straight-line brushing movement. In addition, the robot frame is also provided with a power supply mechanism and an electric control system. The power supply mechanism provides power supply and control power supply for each mechanism of the cleaning robot. The cleaning robot is driven by the electric control system to clean the reflector along the required route, and the cleaning robot does not deflect during the movement of the cleaning robot, thereby realizing automatic cleaning of large-scale reflectors, reducing cleaning costs, maximizing the cleanliness of the reflector surface of the collector field, and increasing the heat collection of the collector field. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a front view of the cleaning robot of the present invention;

[0021] Figure 3 is a side view of the cleaning robot of the present invention;

[0022] Figure 4 A top view of the cleaning robot of the present invention;

[0023] Figure 5 A top view of the main reflector array of the linear Fresnel concentrator of the present invention;

[0024] Figure 6 A side view of a main reflector array of a linear Fresnel concentrator of the present invention;

[0025] Figure 7 It is a schematic diagram of the transfer mechanism structure of the present invention;

[0026] Figure 8 This is a schematic diagram of the network structure of the cleaning control system of the present invention;

[0027] Fig. 9 This is a schematic diagram of a cleaning mode 1 of the present invention;

[0028] Fig.10 This is a schematic diagram of the cleaning mode 2 of the present invention;

[0029] Among them, 1. Cleaning robot; 2. Linear Fresnel concentrator main reflector field; 3. Transfer mechanism; 4. Cleaning control system;

[0030] 11. Brush roller; 12. Crawler walking mechanism; 13. First driving mechanism; 14. Electric control system; 15. Power supply mechanism; 16. Limiting mechanism; 17. Second driving mechanism.

[0031] 21. Reflector array; 22. Driving connecting rod; 23. Driving motor; 24. Rotating arm;

[0032] 31. Transfer platform; 32. Robot tray; 33. Tray drive mechanism; 34. Transfer mechanism control system; 35. Left mirror column of the first concentrator; 36. Left mirror column of the second concentrator; 37. Left mirror column of the third concentrator; 38. Left mirror column of the fourth concentrator; 39. Right mirror column of the first concentrator; 40. Right mirror column of the second concentrator; 41. Right mirror column of the third concentrator; 42. Right mirror column of the fourth concentrator. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to provide a linear Fresnel type solar collector field main reflector cleaning robot and its cleaning system to solve the problems existing in the above-mentioned prior art, to realize automatic cleaning of large-scale reflectors, to reduce cleaning costs, to maximize the cleanliness of the solar collector field reflector surface, and to increase the collection amount of the solar collector field.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] like Figures 1 to 7As shown, this embodiment provides a linear Fresnel type solar collector field main reflector cleaning robot, including a robot frame, a walking mechanism is provided on the robot frame to move along the reflector surface in a straight line, the walking mechanism is equipped with a power mechanism to provide power to it, a dust removal mechanism is provided on the front side and / or the rear side of the walking mechanism in the direction of travel, the walking mechanism moves along the reflector, the dust removal mechanism moves with the robot frame, and synchronously brushes the dust on the reflector surface, and the robot frame is also provided with a plurality of pairs of limit mechanisms 16 that move synchronously with it, and two limit mechanisms 16 in each pair of limit mechanisms 16 slide along the width direction of the reflector and abut against its side surface, so as to ensure that the cleaning robot 1 does not shift laterally during the linear brushing movement. In addition, a power supply mechanism 15 and an electric control system 14 are also provided on the robot frame, and the power supply mechanism 15 provides power supply and control power supply for each mechanism of the cleaning robot 1, and the preferred power supply mechanism 15 is composed of a battery and its charging interface, and the battery can be configured as an offline rechargeable battery that is easy to disassemble, or as an online battery with a photovoltaic panel.

[0037] The electric control system 14 provides operation control for each mechanism of the cleaning robot 1, and the electric control system 14 also maintains wireless communication with the cleaning control system 4 and the handheld controller of the cleaning robot. The electric control system 14 can be configured into manual control mode, handheld remote control mode, and remote control mode, wherein the manual control mode is mainly used for debugging the entire cleaning system; the remote control mode is mainly used for fault recovery in manual mode; and the remote control mode is mainly used for automatic cleaning mode of the collector field. The electric control system 14 can realize the forward and reverse drive of the cleaning robot 1, the speed control of the brush roller 11, the in-position shutdown and anti-drop of the cleaning robot 1, fault alarm, communication with the handheld remote control and the cleaning control system 4, etc. in manual and automatic modes respectively.

[0038] As a preferred embodiment of the present invention, the dust removal mechanism is a brush roller 11 rotatably mounted on a robot frame, the brush roller 11 extends along the width direction of the reflector, and the width of the brush roller 11 matches the width of the reflector. The outer peripheral surface of the brush roller 11 slides against the surface of the reflector, and a first driving mechanism for driving the brush roller 11 to rotate is provided on the robot frame.

[0039] Furthermore, the limiting mechanism 16 includes a support rod installed on the robot frame, the support rod extends downward to the side position of the reflector, and is provided with a limiting roller abutting against the side of the reflector.

[0040] Furthermore, a walking frame is provided at one side of the middle position of the robot frame close to the reflector surface, and the walking frame is symmetrically provided with crawler walking mechanisms 12 on both sides perpendicular to its moving direction, and the crawler walking mechanisms 12 support the robot frame to move along the surface of the reflector.

[0041] As a preferred embodiment of the present invention, the crawler walking mechanism 12 can be configured with a set of driving mechanisms together with the brush roller 11, that is, the crawler walking mechanism 12 is connected to the output end of the first driving mechanism, and gears with different speed ratios are connected between the crawler walking mechanism 12 and the brush roller 11 and the output end of the first driving mechanism. When the crawler walking mechanism 12 and the brush roller 11 are configured with the first driving mechanism together, a certain speed difference is maintained between the brush roller 11 and the crawler walking mechanism 12 through the gear speed ratio configuration, thereby improving the cleaning effect.

[0042] Furthermore, the crawler walking mechanism 12 and the brush roller 11 can be configured with two independent driving mechanisms respectively. Specifically, a power supply mechanism and a second driving mechanism for driving the crawler walking mechanism 12 are provided on the walking frame. The brush roller 11 and the crawler walking mechanism 12 are respectively controlled by the first driving mechanism and the second driving mechanism, so that the driving speeds of the brush roller 11 and the crawler walking mechanism 12 can be adjusted independently.

[0043] A cleaning system is also provided, comprising a cleaning robot 1 , a plurality of reflector arrays 21 carrying the cleaning robot 1 and serving as cleaning objects, and a transfer mechanism 3 arranged at both ends of the reflector arrays 21 for transferring the cleaning robot 1 .

[0044] Further, each reflector column 21 is arranged in parallel to form a linear Fresnel concentrator main reflector field 2. The parallel-arranged reflector column 21 carries a cleaning robot 1 to move longitudinally on its surface. The cleaning robot 1 cleans the dust on the surface of the reflector column 21 during the movement. The transfer mechanism 3 includes a robot tray 32, a tray driving mechanism 33 and a pair of transfer platforms 31. Each transfer platform 31 is arranged at both ends of the reflector column 21. A robot tray 32 can be movably arranged on each transfer platform 31. The robot tray 32 is arranged at the same height as the reflector column 21. The tray driving mechanism 33 is installed on the transfer structure and drives the robot tray 32 to move along the transfer platform 31. The robot tray 32 receives the cleaning robot 1 and can move to the designated entrance of the main reflector column 21 under the control of the tray driving mechanism 33. A transfer platform 31 control system is also provided on the transfer mechanism 3. The transfer platform control system controls the movement of the robot tray 32 and can align with different entrances of the reflector column 21. The control system of the transfer platform 31 can manually control the robot tray 32 to move to the designated entrance position of the reflector array 21, or can communicate with the cleaning control system 4 to automatically move the robot tray 32 to the designated entrance position of the reflector array 21. The present invention sets a transfer mechanism 3 at both ends of the condenser reflector array 21, connects the reflector array 21 in series as a whole, and builds a channel for the cleaning robot 1 to automatically clean all the reflector arrays 21.

[0045] The mirror array 21 is equipped with a mirror array connecting rod driving mechanism, which is used to drive the mirror array 21 to rotate to a specified angle, and the mirror array connecting rod driving mechanism is equipped with a mirror array driving controller, which performs daily control after receiving corresponding instructions, especially receiving instructions from the cleaning control system 4 to control the mirror array 21 to rotate to a specified angle. The length of the transfer structure matches the span of each mirror array 21.

[0046] Each reflector column 21 is composed of a plurality of long strip reflector units connected in series, and a plurality of reflector columns 21 are connected in parallel to form the entire linear Fresnel type solar collector field main reflector system. Each reflector column 21 arranged in parallel is arranged symmetrically on the left and right sides, and is divided into a plurality of units in the longitudinal direction, and each unit is driven to rotate by two sets of left and right mirror column connecting rod driving mechanisms. The initial angles of the reflector columns 21 arranged in parallel on the mirror column connecting rod driving mechanism are different, and when the mirror column connecting rod driving mechanism rotates, all reflector columns 21 rotate by the same angle.

[0047] Furthermore, the mirror array connecting rod driving mechanism includes a plurality of rotating rods equally spaced along the arrangement direction of the reflector array 21, the two ends of the rotating rods respectively extend out of the corresponding reflector array 21, and are respectively rotatably connected to the corresponding transfer platform, the rotating rod is equipped with a rotating rod driving mechanism for driving its self-rotation, the rotating rod is arranged parallel to the reflector array 21 and is connected to the bottom surface of the reflector array 21, the rotating rod driving mechanism includes a driving motor 23 and a driving connecting rod 22 connected to the output shaft of the driving motor 23, the driving connecting rod 22 reciprocates under the transmission action of the driving motor, for example, a linear translation mechanism is connected to the output shaft of the driving motor 23, the linear translation mechanism drives the driving connecting rod 22 to reciprocate, the driving connecting rod 22 is equipped with a plurality of rotating arms 24 corresponding to each reflector array 21, the bottom end of the rotating arm 24 is hinged on the driving connecting rod 22, and the top end thereof is fixedly connected to the rotating rod, so that in the process of reciprocating translation of the driving connecting rod 22, the rotating arm 24 is driven to swing, thereby driving the rotating rod to rotate, so that the reflector array 21 rotates to adjust its angle.

[0048] Preferably, a detector for detecting whether the cleaning robot 1 is aligned with the reflector array 21 is provided on the robot tray 32 , and the detector feeds back position information to the control system of the transfer platform 31 .

[0049] The cleaning control system 4 of the whole cleaning system is a part of the control system of the solar field. On the one hand, it controls the tray driving mechanism 33 to move the cleaning robot 1, on the other hand, it controls each reflector column 21 to rotate to the corresponding angle, and on the other hand, it controls the start and stop operation of the cleaning robot 1 and the switching of the operation mode. The specific cleaning control system 4 communicates with the electric control system 14 of the cleaning robot 1, the control system of the transfer platform 31, and the mirror column drive controller to realize automatic control and supervision detection of the cleaning process. The present invention communicates with the cleaning robot 1, the transfer mechanism control system 34, and the mirror column drive controller through the cleaning control system 4, coordinates and controls the longitudinal movement of the cleaning robot 1, the lateral movement of the tray of the cleaning robot 1, and the rotation angle of the reflector column 21, so as to realize the automatic cleaning of the reflector column 21 of the concentrator in multiple modes; greatly improves the cleaning efficiency of the main reflector column 21 of the concentrator, realizes the automation and unattended cleaning process, and greatly reduces the cleaning cost of the main reflector column 21 of the concentrator.

[0050] Furthermore, the corresponding cleaning method of the entire cleaning system includes the following contents:

[0051] When the collector field is in a non-collecting state, the cleaning control system 4 sends a command to the mirror array drive controller to rotate one of the reflector arrays 21 in the concentrator to a horizontal cleaning position, and then sends a command to the transfer platform 31 control system to move the robot tray 32 on the transfer platform 31 together with the cleaning robot 1 to the entrance position of the reflector array 21 to be cleaned in a horizontal position, and the robot tray 32 at the other end of the reflector array 21 is also moved into place. When the cleaning control system 4 detects that the cleaning robot is in place at the entrance of the reflector array 21 to be cleaned, it sends a command to the cleaning robot 1 to move longitudinally to the reflector array 21, cleaning the reflector array 21 while moving.

[0052] The same reflector array 21 can be cleaned back and forth for multiple times until the cleanliness requirement is met. When the cleaning robot 1 reaches the tray at the other end of the reflector array 21, it stops moving and then moves in the opposite direction for cleaning.

[0053] Moreover, if there is no need for reciprocating cleaning, or only one cleaning is required, when the cleaning robot 1 reaches the tray and stops moving, the cleaning control system 4 sends a command to the mirror array drive controller to rotate the adjacent or any other mirror array 21 to a horizontal cleaning position. After detecting that the mirror surface is level, the cleaning robot 1 tray moves together with the robot to the entrance position of the mirror array 21 and then starts cleaning.

[0054] As a preferred embodiment of the present invention, the cleaning robot 1 can selectively clean a designated mirror column 21, or cyclically clean all mirror columns 21 in the concentrator of the solar collector system according to a set sequence path, until all the mirror columns 21 are cleaned and the cleaning trolley returns to the tray of the transfer platform 31.

[0055] Furthermore, the cleaning control system 4 can set the cleaning start time, cleaning cycle and cleaning path according to the dust condition of the mirror and the cleaning requirements, so as to realize unattended and automatic cleaning of the main reflector of a large-scale solar collector field.

[0056] In specific applications, there are manual mode and automatic mode, for example the following modes:

[0057] Manual mode: When the collector field is in a non-collection state, the cleaning control system 4 sends a command to the mirror array drive controller to rotate one of the reflector arrays 21 in the concentrator to a horizontal cleaning position, and then sends a command to the transfer platform 31 control system to move the robot tray 32 on the transfer platform 31 together with the cleaning robot 1 to the entrance position of the reflector array 21 to be cleaned in a horizontal position, and the robot tray 32 at the other end of the reflector array 21 is also moved into place. When the cleaning control system 4 detects that the cleaning robot is in place at the entrance of the reflector array 21 to be cleaned, it instructs the cleaning robot 1 to move longitudinally to the reflector array 21, cleaning the reflector array 21 while moving.

[0058] The cleaning robot 1 is manually or remotely started to move longitudinally to the reflector array 21, and the reflector array 21 is cleaned while moving. The moving direction of the cleaning robot 1 can be changed during the cleaning process, and the cleaning is repeated multiple times. After the cleaning is completed, the cleaning robot 1 is controlled to return to the robot tray 32 on the transfer platform 31 for standby. This mode is suitable for debugging the cleaning system or manually cooperating to clean the condenser reflector array 21 when the control system fails.

[0059] Automatic mode 1: When the mirror surface is dusty, the same reflector array 21 can be cleaned back and forth multiple times until the cleanliness requirement is met. Figure 6As shown, the cleaning control system 4 sends an instruction to the mirror column drive controller to rotate the left mirror column 38 of the fourth concentrator in the concentrator to a horizontal cleaning angle, and at the same time sends an instruction to the control system of the north side transfer platform 31 to move the robot tray 32 on the transfer platform 31 together with the cleaning robot 1 to the entrance position of the left mirror column 38 of the fourth concentrator in a horizontal position to be cleaned. After the cleaning control system 4 detects that the cleaning robot 1 is in place and the left mirror column 38 of the fourth concentrator is at a horizontal angle, it sends an instruction to the cleaning robot 1 to move longitudinally to the left mirror column 38 of the fourth concentrator, cleaning while moving. After cleaning the left mirror column 38 of the fourth concentrator, the cleaning robot 1 moves in the opposite direction to start cleaning for the second time, returns to the north side of the reflector column 21, and then moves in the opposite direction to clean for the third time. When the fourth cleaning is completed, the cleaning robot 1 returns to the robot tray 32 of the north side transfer platform 31. The cleaning control system 4 sends a command to the mirror column drive controller to rotate the third concentrator left mirror column 37 in the concentrator to a horizontal cleaning angle, and at the same time sends a command to the north side transfer platform 31 control system to move the robot tray 32 on the transfer platform 31 together with the cleaning robot 1 to the entrance position of the third concentrator left mirror column 37 in a horizontal position to be cleaned, and execute the same cleaning process, and repeat this process to clean the fourth concentrator left mirror column 38, the third concentrator left mirror column 37, the second concentrator left mirror column 36, the first concentrator left mirror column 35, the first concentrator right mirror column 39, the second concentrator right mirror column 40, the third concentrator right mirror column 41, and the fourth concentrator right mirror column 42 in turn. When the fourth concentrator right mirror column 42 is cleaned, the cleaning robot 1 returns to the tray of the north side transfer mechanism 3 to wait, and this cleaning is completed.

[0060] Automatic mode 2: When the mirror is not dusty and only one cleaning is needed to meet the cleanliness requirements, Figure 7As shown, the cleaning control system 4 sends a command to the mirror column driving controller to rotate the two first concentrator left mirror columns 35 and the first concentrator right mirror column 39 in the concentrator to a horizontal cleaning angle, and at the same time sends a command to the control system of the north transfer platform 31 to move the robot tray 32 on the transfer platform 31 together with the cleaning robot 1 to the entrance position of the first concentrator left mirror column 35 in a horizontal position to be cleaned. After the cleaning control system 4 detects that the cleaning robot 1 is in place and the first concentrator left mirror column 35 is at a horizontal angle, it sends a command to the cleaning vehicle to move longitudinally to the first concentrator On the left mirror row 35, it is cleaned while moving. After cleaning the left mirror row 35 of the first concentrator, it is directly placed on the tray of the south transfer platform 31. At this time, the transfer platform 31 driving mechanism moves the tray to the entrance position of the right mirror row 39 of the first concentrator. After the cleaning control system 4 detects that the cleaning robot 1 is in place and the right mirror row 39 of the first concentrator is at a horizontal angle, it sends a command to the cleaning robot 1 to move longitudinally to the right mirror row 39 of the first concentrator, cleaning while moving. After cleaning the right mirror row 39 of the first concentrator, the robot returns to the cleaning robot 1 on the north transfer platform 31. After that, the cleaning control system 4 sends instructions to the mirror column drive controller to rotate the left-right symmetrical second concentrator mirror column 36 and the second concentrator right mirror column 40 in the concentrator to a horizontal cleaning angle, and start to clean the second concentrator left mirror column 36 and the second concentrator right mirror column 40 in turn, and repeat this process. When the fourth concentrator left mirror column 38 and the fourth concentrator right mirror column 42 are cleaned, the cleaning robot 1 returns to the robot tray 32 of the north transfer mechanism 3 to wait, and the cleaning is completed.

[0061] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0062] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0063] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A linear Fresnel collector field main reflector cleaning robot, characterized in that: The robot frame comprises a walking mechanism which moves in a straight line along the surface of the reflector, the walking mechanism is provided with a dust removal mechanism on the front side and / or the rear side along the moving direction, the dust removal mechanism moves with the robot frame and synchronously brushes the accumulated dust on the surface of the reflector, the robot frame is also provided with a plurality of pairs of limiting mechanisms which move synchronously therewith, and the two limiting mechanisms in each pair of the limiting mechanisms slide along the width direction of the reflector and abut against the side surface thereof.

2. The linear Fresnel type solar collector field main reflector cleaning robot according to claim 1, characterized in that: The dust removal mechanism is a brush roller rotatably mounted on the robot frame, the brush roller extends along the width direction of the reflector, and the width of the brush roller matches the width of the reflector. The outer peripheral surface of the brush roller slides against the surface of the reflector, and the robot frame is provided with a first driving mechanism that drives the brush roller to rotate.

3. The linear Fresnel type solar collector field main reflector cleaning robot according to claim 2, characterized in that: The limiting mechanism comprises a support rod installed on the robot frame, the support rod extends downward to the side position of the reflector and is provided with a limiting roller abutting against the side surface of the reflector.

4. The linear Fresnel type solar collector field main reflector cleaning robot according to claim 2 or 3, characterized in that: A walking frame is provided at a middle position of the robot frame on one side close to the reflector surface, and a crawler walking mechanism is symmetrically provided on both sides of the walking frame perpendicular to its moving direction, and the crawler walking mechanism supports the robot frame to move along the surface of the reflector.

5. The linear Fresnel type solar collector field main reflector cleaning robot according to claim 4, characterized in that: The crawler walking mechanism is transmission-connected to the output end of the first driving mechanism, and gears with different speed ratios are transmission-connected between the crawler walking mechanism and the brush roller and the output end of the first driving mechanism respectively.

6. The linear Fresnel type solar collector field main reflector cleaning robot according to claim 4, characterized in that: The walking frame is provided with a power supply mechanism and a second driving mechanism for driving the crawler walking mechanism.

7. A cleaning system using the linear Fresnel type solar collector field main reflector cleaning robot as claimed in any one of claims 1 to 6, characterized in that: It comprises a cleaning robot, a plurality of reflector arrays that carry the cleaning robot and serve as cleaning objects, and a transfer mechanism arranged at both ends of the reflector arrays for transferring the cleaning robot; Each of the reflector columns is arranged in parallel; the transfer mechanism includes a robot pallet, a pallet driving mechanism and transfer platforms arranged in pairs, each of the transfer platforms is arranged at both ends of each of the reflector columns, and a robot pallet is movably provided on each of the transfer platforms. The robot pallet is arranged at the same height as each of the reflector columns, and the pallet driving mechanism is installed on the transfer structure and drives the robot pallet to move along the transfer platform.

8. The cleaning system according to claim 7, characterized in that: The reflector array is equipped with a mirror array connecting rod driving mechanism for driving the reflector array to rotate to a specified angle, and the length of the transfer structure matches the span of each reflector array.

9. The cleaning system according to claim 8, characterized in that: The mirror array connecting rod driving mechanism includes a plurality of rotating rods evenly spaced along the arrangement direction of each of the reflector arrays. The rotating rods are equipped with a rotating rod driving mechanism for driving their rotation. The rotating rods are arranged parallel to the reflector arrays and connected to the bottom surface of the reflector arrays.

10. The cleaning system according to claim 9, characterized in that: The robot tray is provided with a detector for detecting the alignment of the cleaning robot and the reflector array.

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