Intelligent medium-large photo-thermal heliostat cleaning robot

Abstract

The utility model provides an intelligent medium and large photo-thermal heliostat cleaning robot which comprises a guide rail support fixed to a heliostat support, guide rails arranged in parallel are fixed to the two sides of the top end of the guide rail support, and cleaners used for cleaning the surface of a heliostat are installed on the tops of the guide rails in a sliding fit mode. A power supply device of the cleaner is connected with a storage battery, and the storage battery is connected with a photovoltaic power generation device fixed on the cleaner. The robot is driven by a photovoltaic power generation system, precious water resources do not need to be used for cleaning the heliostat surface, automatic control can be achieved, and it is guaranteed that the cleanliness meets the requirement all the time.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of cleaning robots, in particular to an intelligent medium-large heliostat cleaning robot. BACKGROUND

[0002] In the past two years, the heliostat project is steadily advancing, and the overall installed capacity is constantly increasing. Especially in the northwest region of China, with the advantage of solar energy resources, the development is more rapid. The heliostat mirror field is composed of a certain number of heliostat mirror groups with tracking function, which plays an important role in reflecting and collecting solar radiation, and ultimately realizes the heating of the working medium in the heliostat heat absorber. The cleanliness of the heliostat mirror surface will be continuously reduced due to the influence of surface deposition of aerosol, dust and other substances in the air, thereby reducing the reflectivity of the heliostat and the overall optical efficiency of the mirror field, directly leading to a decrease in the conversion rate of solar energy, affecting the overall power generation, especially in the arid and severely desertified northwest region of China, the heliostat mirror surface is more prone to depositing impurities, and the large and medium-sized heliostat group itself has a high pile foundation, which is not easy to clean, and a special mirror field cleaning road needs to be set up for manual cleaning. Therefore, how to ensure the cleanliness of the mirror surface of the large and medium-sized mirror field, improve the power generation efficiency and reduce the operation and maintenance cost has become a problem to be solved in the promotion and application of the heliostat project. CONTENT OF THE UTILITY MODEL

[0003] In order to solve the current technical problems, the main purpose of the utility model is to provide an intelligent medium-large heliostat cleaning robot, which uses a photovoltaic power generation system to drive, does not need to use valuable water resources to clean the heliostat mirror surface, and can realize automatic control to ensure the cleanliness at all times.

[0004] In order to realize the above technical features, the purpose of the utility model is realized as follows: an intelligent medium-large heliostat cleaning robot, comprising a guide rail support fixed on a heliostat support, parallel guide rails are fixed on both sides of the top end of the guide rail support, and a cleaner for cleaning the surface of the heliostat is slidably installed on the top of the guide rail;

[0005] The power supply device of the cleaner is connected with the storage battery, and the storage battery is connected with the photovoltaic power generation device fixed on the cleaner.

[0006] The two ends of the guide rail are respectively provided with limiting blocks for limiting.

[0007] The guide rail is fixedly connected with the guide rail support through bolts.

[0008] The cleaner comprises a plurality of guide rail wheels installed on both sides, the guide rail wheels are in contact with the guide rail, the guide rail wheels are connected with the output shaft of the guide rail wheel motor and drive the entire cleaner to move along the guide rail, and a plurality of cleaning rollers for contacting the outer surface of the heliostat are installed at the bottom end of the cleaner.

[0009] The cleaning roller set comprises a first row of cleaning rollers, a second row of cleaning rollers and a third row of cleaning rollers arranged in parallel, the first row of cleaning rollers, the second row of cleaning rollers and the third row of cleaning rollers are fixed at the bottom end of the heliostat through bearing seats, and the roller shafts of the first row of cleaning rollers, the second row of cleaning rollers and the third row of cleaning rollers are connected with corresponding cleaning roller motors through couplings.

[0010] The surface of the heliostat is provided with a mirror surface cleanliness detector for detecting the cleanliness of the outer surface thereof, and the mirror surface cleanliness detector is connected with the control box of the cleaner through a signal line.

[0011] The cleaner is provided with a control box, the inside of the control box is provided with a driver, a controller, a power supply device and a communication module, and the signal output end of the controller is connected with the guide rail wheel motor and the cleaning roller motor through the driver.

[0012] The communication module is connected with an upper computer in communication.

[0013] The photovoltaic power generation device adopts a photovoltaic panel.

[0014] The outer surfaces of the first row of cleaning rollers, the second row of cleaning rollers and the third row of cleaning rollers are respectively provided with flexible bristles.

[0015] The heliostat cleaning robot has the following beneficial effects:

[0016] The heliostat cleaning robot has the following beneficial effects: BRIEF DESCRIPTION OF DRAWINGS

[0017] The heliostat cleaning robot has the following beneficial effects:

[0018] Figure 1 It is an intelligent medium and large-sized heliostat cleaning robot.

[0019] Figure 2 It is an intelligent medium and large-sized heliostat cleaning robot.

[0020] In the figure: 1, host computer; 2, limiting block; 3, photovoltaic power generation device; 4, driver; 5, controller; 6, power supply device; 7, communication module; 8, guide rail wheel; 9, cleaner; 10, bolt; 11, mirror surface cleanliness detector; 12, guide rail; 13, heliostat; 14, guide rail support; 15, coupling; 16, first cleaning roller; 17, cleaning roller motor; 18, bearing seat; 19, third cleaning roller; 20, second cleaning roller; 21, control box; 22, guide rail wheel motor. DETAILED DESCRIPTION

[0021] The embodiments of the utility model will be further described below with reference to the drawings.

[0022] Example 1:

[0023] Referring to Figures 1-2 A kind of intelligent middle and large-sized heliostat cleaning robot, including the guide rail support 14 fixed on the heliostat support, the top of the guide rail support 14 both sides is fixed with the guide rail 12 of parallel arrangement, the top of the guide rail 12 is slidably fitted with the cleaner 9 for cleaning the surface of heliostat 13;The power supply device 6 of the cleaner 9 is connected with battery, and battery is connected with photovoltaic power generation device 3 fixed on the cleaner 9.This robot uses photovoltaic power generation system to drive, without using valuable water resource to clean heliostat mirror surface, and can realize automatic control, always guarantee that cleanliness meets the requirement.Specific working process, by photovoltaic power generation device 3 charges battery, by battery powers power supply device 6, by power supply device 6 provides electric energy for cleaner 9, by cleaner 9 along guide rail 12 moves, and then by cleaner 9 to the surface of heliostat 13 is cleaned.

[0024] Further, the two ends of the guide rail 12 are respectively provided with limiting blocks 2 for limiting. The limiting blocks 2 can limit the cleaner 9 supported on the top thereof, effectively prevent the risk of falling off, and ensure the safety and reliability of operation.

[0025] Further, the guide rail 12 is fixedly connected with the guide rail support 14 by the bolt 10. The reliable fixation of the guide rail 12 is realized by the above-mentioned bolt 10, thereby ensuring the structural strength and stability thereof.

[0026] Further, the cleaner 9 comprises a plurality of groups of guide wheels 8 installed on both sides, the guide wheels 8 are in contact with the guide rails 12, the guide wheels 8 are connected with the output shaft of the guide wheel motor 22 and drive the entire cleaner 9 to move along the guide rails 12; the bottom end of the cleaner 9 is provided with a plurality of groups of cleaning rollers for contacting the outer surface of the heliostat 13. The above-mentioned cleaner 9 can be used for effective cleaning operation on the outer surface of the heliostat 13. During operation, the guide wheels 8 are driven to move along the guide rails 12 by the guide wheel motor 22, and in the moving process, the outer surface of the heliostat 13 is effectively cleaned by the cleaning roller group.

[0027] Further, the cleaning roller group comprises a first cleaning roller 16, a second cleaning roller 20 and a third cleaning roller 19 arranged in parallel, the first cleaning roller 16, the second cleaning roller 20 and the third cleaning roller 19 are respectively fixed at the bottom end of the heliostat 13 through the bearing seat 18, and the roller shafts of the first cleaning roller 16, the second cleaning roller 20 and the third cleaning roller 19 are respectively connected with the corresponding cleaning roller motor 17 through the shaft coupling 15. The above-mentioned cleaning roller group can be used to provide cleaning power. During operation, the shaft coupling 15 is driven by the cleaning roller motor 17, the first cleaning roller 16, the second cleaning roller 20 and the third cleaning roller 19 are driven by the shaft coupling 15, and then the first cleaning roller 16, the second cleaning roller 20 and the third cleaning roller 19 are in contact with the outer surface of the heliostat 13, thereby realizing the cleaning of the outer surface of the heliostat 13.

[0028] Further, the surface of the heliostat 13 is provided with a mirror surface cleanliness detector 11 for detecting the cleanliness of the outer surface thereof, and the mirror surface cleanliness detector 11 is connected with the control box 21 of the cleaner 9 through a signal line. The above-mentioned mirror surface cleanliness detector 11 facilitates the automatic control of the cleaning process.

[0029] Further, the control box 21 is provided on the cleaner 9, the inside of the control box 21 is provided with a driver 4, a controller 5, a power supply device 6 and a communication module 7, and the signal output end of the controller 5 is connected with the guide wheel motor 22 and the cleaning roller motor 17 through the driver 4. The above-mentioned control box 21 facilitates the automation of the entire control process.

[0030] Further, the communication module 7 is connected with the host computer 1. Through the connection mode of the above-mentioned communication module 7, the remote control of the robot is facilitated.

[0031] Further, the photovoltaic power generation device 3 adopts a photovoltaic panel. The photovoltaic panel can be used for solar power generation, thereby solving the problem of power supply.

[0032] Further, the outer surfaces of the first cleaning roller 16, the second cleaning roller 20 and the third cleaning roller 19 are respectively provided with flexible bristles.

[0033] Embodiment 2:

[0034] Please refer to Figure 1 , Figure 2 The utility model provides a kind of intelligent medium-large photothermal heliostat cleaning robot, and the cleaning robot includes cleaner, guide rail, guide rail support.The utility model whole structure is simple, and it is convenient to install, while the design and construction of mirror field cleaning road are saved, and cost is greatly saved.

[0035] Further, the guide rail is installed above the guide rail support, and the limiting blocks are installed on both sides of the guide rail.Because the running path of the cleaning robot is simple, it can run completely according to the preset route, and the stop position does not block the reflection and refraction of the photothermal plate.The limiting blocks can ensure that the cleaning robot does not fall off the track in case of failure, avoiding damage caused by falling.

[0036] Further, the guide rail support is installed on the heliostat support and connected with the guide rail by the bolts.The cleaning robot support can be designed as an integrated part of the heliostat support, and if it is added later, it can be installed separately, with simple structure and light overall weight, without affecting the normal operation of the heliostat tracking system.

[0037] Further, the cleaner is composed of the control box, the guide rail wheel, the cleaning roller and the body.The cleaning robot is light in material, and its sealing performance meets the IP65 requirement, avoiding the influence of rain and dust.

[0038] Further, the control box is composed of the driver, the controller, the power supply device and the communication module.The control box has remote communication and remote control functions, uses its own power supply system without external power supply, and the driver is driven by two motor systems, with simple structure design.

[0039] Further, the cleaning roller adopts a three-axis connected roller structure, and is connected with the cleaning roller motor by the bearing and the coupling.The three-axis connected roller structure of the cleaning roller can ensure cleaning efficiency, and the three rollers increase in softness from front to back, without scratching the mirror surface during cleaning.More importantly, the whole cleaning process does not require water source, reducing water consumption and cost.The bearing and coupling are used to connect the middle part, increasing the motor fault tolerance rate and avoiding the burning of the motor due to misalignment and other factors.When the cleaning roller starts work, the three-roller telescopic mechanism extends to make the roller shaft close to the mirror surface, and the telescopic mechanism is retracted when the work is completed, ensuring the working gap.

[0040] Further, the guide rail wheels travel on the guide rails. The spacing control between the upper and lower guide rail wheels can ensure that the cleaner clamps the guide rails without loosening, ensuring safe operation.

[0041] Further, the driver is composed of a travel drive and a cleaning drive. The travel drive is achieved by the guide rail wheel motor, and the cleaning drive is achieved by the cleaning roller motor. The two drive systems are simple in design and convenient in wiring layout.

[0042] Further, the controller is a core controller that performs signal feedback control through the mirror surface cleanliness detector installed on the heliostat and accepts operation instructions from the upper system. When the mirror surface cleanliness is reduced to a certain lower limit value, the cleaning instruction is issued through the system setting of the upper computer, thereby realizing automatic control without the need for personnel to control by themselves. Only personnel need to set the cleaning route and cleaning frequency each time to realize intelligent operation.

[0043] Further, the power supply device is composed of the photovoltaic power generation device and the battery. The power supply device adopts a photovoltaic power generation system, which can fully utilize the local solar power generation advantage without the need to set a power supply line. The reserve power is fully sufficient for cleaning use.

[0044] Further, the communication module is connected to the upper system through wireless communication. The wireless communication does not need to use communication cables and can set sleep control through this mode, thereby prolonging the service life of the equipment.

Claims

1. An intelligent medium-large scale solar dish cleaning robot, characterized in that, The guide rail bracket (14) is fixed on the heliostat support, the top of the guide rail bracket (14) is fixed with parallel arranged guide rails (12), the top of the guide rail (12) is slidingly fitted with a cleaner (9) for cleaning the surface of the heliostat (13); The power supply device (6) of the cleaner (9) is connected with a battery, and the battery is connected with a photovoltaic power generation device (3) fixed on the cleaner (9).

2. The intelligent cleaning robot for large and medium-sized solar troughs according to claim 1, characterized in that: The two ends of the guide rail (12) are respectively provided with limiting blocks (2) for limiting.

3. The intelligent cleaning robot for large and medium-sized solar trough power plants according to claim 1, characterized in that: The guide rail (12) is fixedly connected with the guide rail bracket (14) through bolts (10).

4. The intelligent cleaning robot for large and medium-sized solar trough power plants according to claim 1, characterized in that: The cleaner (9) comprises a plurality of groups of guide rail wheels (8) arranged on both sides, the guide rail wheels (8) are in contact with the guide rail (12), the guide rail wheels (8) are connected with the output shaft of the guide rail wheel motor (22) and drive the entire cleaner (9) to move along the guide rail (12), and the bottom end of the cleaner (9) is provided with a plurality of groups of cleaning rollers for contacting the outer surface of the heliostat (13).

5. The intelligent cleaning robot for large and medium-sized solar troughs according to claim 4, characterized in that: The cleaning roller group comprises a first cleaning roller (16), a second cleaning roller (20) and a third cleaning roller (19) arranged in parallel, the first cleaning roller (16), the second cleaning roller (20) and the third cleaning roller (19) are fixed at the bottom end of the heliostat (13) through bearing seats (18), and the roller shafts of the first cleaning roller (16), the second cleaning roller (20) and the third cleaning roller (19) are connected with corresponding cleaning roller motors (17) through couplings (15).

6. The intelligent cleaning robot for large and medium-sized solar trough power plants according to claim 4, characterized in that: The surface of the heliostat (13) is provided with a mirror surface cleanliness detector (11) for detecting the cleanliness of the outer surface, and the mirror surface cleanliness detector (11) is connected with the control box (21) of the cleaner (9) through a signal line.

7. The intelligent cleaning robot for large and medium-sized solar troughs according to claim 5, characterized in that: The control box (21) is arranged on the cleaner (9), the inside of the control box (21) is provided with a driver (4), a controller (5), a power supply device (6) and a communication module (7), and the signal output end of the controller (5) is connected with the guide rail wheel motor (22) and the cleaning roller motor (17) through the driver (4).

8. The intelligent cleaning robot for large heliostats according to claim 7, characterized in that: The communication module (7) is connected with an upper computer (1).

9. The intelligent cleaning robot for large heliostats according to claim 6, characterized in that: The photovoltaic power generation device (3) adopts a photovoltaic panel.

10. The intelligent cleaning robot for large heliostats according to claim 5, characterized in that: The outer surfaces of the first cleaning roller (16), the second cleaning roller (20) and the third cleaning roller (19) are respectively provided with flexible bristles.

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