Walking type heliostat cleaning vehicle

Abstract

The utility model discloses a walking type heliostat cleaning vehicle, which relates to the technical field of heliostat cleaning, and comprises a driving vehicle with a hydraulic low-speed driving system, a mechanical arm, a cleaning mechanism and a controller, the cleaning mechanism comprises a cleaning frame, a cleaning roller brush, a spraying assembly, a rear side scraping plate and a sensor set. The cleaning frame is rotationally arranged at the free end of the mechanical arm; the mechanical arm can adjust the relative position of the cleaning frame and the heliostat; the cleaning roller brush is rotationally arranged on the cleaning frame; the spraying assembly comprises a front-end low-pressure spraying pipe and a rear-end high-pressure flushing pipe which are arranged on the cleaning frame; the rear scraping plate is arranged on the cleaning frame at the rear end of the high-pressure flushing pipe; the sensor group is used for detecting the relative position of the cleaning roller brush and the heliostat; the controller is in communication connection with the mechanical arm, the cleaning driver, the spraying assembly and the sensor set. The cleaning distance between the device and the heliostat can be flexibly adjusted, the problem of damage to the mirror surface is reduced, the cleanliness of the mirror surface is improved, and the cleaning effect is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to heliostat cleaning technical field, especially a walking type heliostat cleaning car. BACKGROUND

[0002] Tower type solar thermal power generation technology is one of the developed solar technologies, which has the advantages of high power generation efficiency, sustainable power generation through medium heat storage, stable power generation quality, no pollution in the whole industry chain, and no high energy consumption. Solar thermal power stations are usually built in deserts, Gobi and other environments with relatively poor environmental conditions. Heliostat is one of the key components of tower type solar thermal power generation technology. During operation, dust and other small particles may adhere and accumulate on the mirror surface, which greatly reduces the reflectivity of the heliostat, thereby affecting the power generation efficiency of the power station. Ensuring the high cleanliness of the heliostat mirror is an important guarantee for ensuring the efficient operation of the whole thermal power station and improving the power generation efficiency.

[0003] At present, the commonly used heliostat cleaning mostly uses a walking type cleaning car, which has high requirements for the flatness of the road. For heliostats with a mirror area exceeding 30 square meters or a mirror height exceeding five meters, the following problems exist during the cleaning process:

[0004] (1) Since the heliostat thermal power station site is mostly located in the desert area, the ground is soft and the flatness is poor, which causes the position between the cleaning mechanism and the mirror surface to change constantly during the walking cleaning process. The angle and position of the cleaning mechanism need to be adjusted quickly and constantly. The minimum driving speed of the truck without stepping on the brake is usually 5km / h. It only takes a few seconds to pass through a mirror. The existing cleaning mechanism cannot adjust in time, which easily causes damage to the mirror surface and poor cleaning effect. Reducing the speed by stepping on the brake will cause serious wear of the brake pad and safety hazards such as brake failure;

[0005] (2) After the heliostat is washed, water stains will be left on the mirror surface, which contain sand and dust. After drying, the sand and other pollutants will be left on the mirror surface, reducing the cleaning effect. At the same time, the water stains on the mirror surface are more likely to absorb sand and other pollutants, accelerating the accumulation of dust on the mirror surface. UTILITY MODEL CONTENTS

[0006] The utility model aims to provide a walking type heliostat cleaning car to solve the above-mentioned problems of the prior art, which can flexibly adjust the cleaning distance from the heliostat, reduce the occurrence of mirror surface damage, improve the mirror surface cleanliness, and ensure the cleaning effect.

[0007] To achieve the above-mentioned purpose, the utility model provides the following scheme:

[0008] The utility model provides a kind of walking type heliostat cleaning car, including the running vehicle with hydraulic low-speed running system, mechanical arm, cleaning mechanism and controller;The mechanical arm one end is arranged on the running vehicle, and the free end of the mechanical arm is provided with swing mechanism;The cleaning mechanism includes cleaning frame, cleaning roller brush, spray subassembly, rear scraper and sensor group;The cleaning frame is rotationally arranged on the free end of the mechanical arm about first axis, and the swing mechanism is used to drive the cleaning frame to rotate about the first axis, and the first axis is parallel with horizontal plane;The mechanical arm can adjust the relative position of the cleaning frame and heliostat;The cleaning roller brush is rotationally arranged on the cleaning frame about second axis, and the second axis is perpendicular to the first axis, and the cleaning frame is provided with cleaning driver for driving the cleaning roller brush to rotate;The spray subassembly includes front end low-pressure spray pipe and rear end high-pressure flushing pipe arranged on the cleaning frame, and a plurality of spray holes are arranged on the front end low-pressure spray pipe and the rear end high-pressure flushing pipe, and each spray hole is sequentially arranged along the axis direction of the cleaning roller brush;In the advancing direction of the running vehicle, the front end low-pressure spray pipe is arranged at the front end of the cleaning roller brush, the rear end high-pressure flushing pipe is arranged at the rear end of the cleaning roller brush, and the rear scraper is arranged on the cleaning frame at the rear end of the high-pressure flushing pipe, and the rear scraper is in abutment with one end of heliostat, which is made of flexible material;The sensor group is used to detect the relative position of the cleaning roller brush and heliostat;The controller is communicatively connected with the mechanical arm, the cleaning driver, the spray subassembly and the sensor group.

[0009] Preferably, the rear scraper includes a plurality of scraper segments;Each of the scraper segments is sequentially arranged up and down along the mirror surface width direction of the heliostat;In the advancing direction of the running vehicle, each of the scraper segments is sequentially arranged backward staggered from top to bottom;And each adjacent two scraper segments have an overlapping area at the connection position.

[0010] Preferably, a 110° solid cone nozzle is installed in each of the spray holes of the front end low-pressure spray pipe;A 60° fan-shaped nozzle is installed in each of the spray holes of the rear end high-pressure flushing pipe.

[0011] Preferably, the scraper segment includes a scraper strip, a clamping plate, a spring steel plate and a fixed support;The scraper strip is made of silica gel material, and the scraper strip is detachably fixed on the clamping plate;The clamping plate is fixed on one end of the spring steel plate, and the other end of the spring steel plate is fixedly connected with the fixed support, and the fixed support is fixed on the cleaning frame.

[0012] Preferably, the sensor group comprises an edge alignment distance sensor assembly, a mirror entry distance sensor assembly and a control distance sensor assembly arranged on the cleaning frame; the edge alignment distance sensor assembly is used to detect the relative distance between the cleaning roller brush and the upper and lower edges of the heliostat; the mirror entry distance sensor assembly is used to detect the distance between the cleaning roller brush and the mirror surface when the cleaning roller brush enters the mirror surface of the heliostat; and the control distance sensor assembly is used to detect the relative distance between the cleaning roller brush and the mirror surface of the heliostat.

[0013] Preferably, the sensor group further comprises a limit sensor assembly arranged on the cleaning frame; the control distance sensor assembly is an ultrasonic distance sensor; the limit sensor assembly comprises at least one front limit switch and at least one rear limit switch; in the direction of travel of the traveling vehicle, the front limit switch is arranged at the front end of the cleaning roller brush, and the rear limit switch is arranged at the rear end of the cleaning roller brush; and the distance between the front limit switch and the rear limit switch and the mirror surface of the heliostat is a safety limit distance.

[0014] Preferably, the mechanical arm comprises a mounting base, an inclined support arm, a lifting arm, a telescopic arm, a lifting mechanism, a telescopic mechanism and a rotating mechanism; the mounting base is fixedly arranged on the traveling vehicle; the lower end of the inclined support arm is arranged on the mounting base through the rotating mechanism, and the rotating mechanism can drive the inclined support arm to rotate around a vertical axis; one end of the lifting arm is rotationally connected to the upper end of the inclined support arm around a lifting axis, and the lifting axis is parallel to the first axis; the telescopic arm is slidably arranged in the lifting arm along the axis of the lifting arm through the telescopic mechanism; the distal end of the telescopic arm is connected to the cleaning frame through the oscillating mechanism; one end of the lifting mechanism is hingedly connected to the lower end of the inclined support arm, and the other end of the lifting mechanism is hingedly connected to the lifting arm.

[0015] Preferably, the lower end of the mechanical arm is mounted on the chassis at the rear side of the cab of the traveling vehicle; the tail end of the chassis of the traveling vehicle is also fixedly provided with a water tank, and a water pump is also arranged on the chassis of the traveling vehicle, the water inlet of the water pump is in communication with the water tank, and the water outlet of the water pump is in communication with the front low-pressure spray pipe and the rear high-pressure flushing pipe; in the width direction of the traveling vehicle, a counterweight is also arranged on the chassis of the traveling vehicle in parallel with the mechanical arm.

[0016] Preferably, a generator set is also fixedly arranged on the chassis of the traveling vehicle.

[0017] Preferably, the swing mechanism comprises a servo motor, a planetary reducer and a rotary reducer; a connecting support is fixedly arranged on the cleaning frame, and the connecting support is rotatably arranged at the free end of the mechanical arm about the first axis through a rotating shaft; the output end of the servo motor is in transmission connection with the input end of the planetary reducer, the output end of the planetary reducer is in transmission connection with the input end of the rotary reducer, and the output end of the rotary reducer is fixedly connected with the rotating shaft.

[0018] The utility model discloses relative to prior art has obtained following technical effect:

[0019] The walking type heliostat cleaning vehicle provided by the utility model has the low-speed running system, can switch the low-speed operation mode and the normal vehicle running mode, can realize stepless speed regulation in the range of 0-5km / h without stepping on the brake in the low-speed operation mode, has a large low-speed running speed adjustment range, can freely match different running speeds according to different road conditions, different cleaning channel widths and different cleaning modes, reserves enough adjustment reaction time for the cleaning mechanism, prevents collision with the mirror surface, the cleaning mechanism adopts roller brush cleaning, is provided with a front end low-pressure spray pipe and a rear end high-pressure flushing pipe, has multiple operation modes of low-pressure spray cleaning, high-pressure flushing cleaning, dry brushing and at least two of the three functions, and the mechanical arm is rotatably connected with the cleaning frame through the swing mechanism, the cleaning mechanism can be adjusted in multiple degrees of freedom, the sensor group is arranged, the cleaning mechanism can be in the best cleaning position, can be adjusted and controlled under various working conditions, can flexibly adjust the cleaning distance of the heliostat mirror surface, reduces the damage of the mirror surface, and the rear scraper can effectively remove the water stains and dirt remaining on the mirror surface, effectively improves the mirror cleanliness, and guarantees the cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments, and obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0021] Figure 1 It is the overall structure schematic diagram of the walking type heliostat cleaning vehicle provided by the utility model;

[0022] Figure 2 It is the overall structure schematic diagram of the walking type heliostat cleaning vehicle provided by the utility model; Figure 1 It is the local enlarged view of A in the middle;

[0023] Figure 3 It is the structure schematic diagram of the cleaning mechanism in the walking type heliostat cleaning vehicle provided by the utility model;

[0024] Figure 4 For Figure 3 Local enlarged view at B in the middle;

[0025] Figure 5 Structure schematic view of the mechanical arm in the walking type heliostat cleaning vehicle provided by the utility model;

[0026] Figure 6 Structure schematic view of the walking type heliostat cleaning vehicle in the folded state provided by the utility model.

[0027] In the figure:

[0028] 10 - traveling vehicle; 11 - hydraulic low-speed traveling system; 12 - water tank; 13 - water pump; 14 - counterweight; 15 - generator set;

[0029] 20 - mechanical arm; 21 - mounting base; 22 - inclined support arm; 23 - lifting arm; 24 - telescopic arm; 25 - slewing mechanism; 26 - lifting mechanism; 27 - telescopic mechanism; 28 - swing mechanism; 281 - servo motor; 282 - planetary reducer; 283 - slewing reducer;

[0030] 30 - cleaning mechanism; 31 - cleaning frame; 311 - connecting support; 312 - rotating shaft; 32 - cleaning roller brush; 321 - roller brush motor; 33 - front end low-pressure spray pipe; 34 - rear end high-pressure flushing pipe; 35 - rear side scraper; 36 - scraper section; 361 - scraper strip; 362 - clamping plate; 363 - spring steel plate; 364 - fixed support;

[0031] 40 - edge distance measuring sensor; 41 - front end distance measuring sensor; 42 - front distance measuring sensor; 43 - rear distance measuring sensor; 44 - front end limit switch; 45 - rear end limit switch;

[0032] 50 - electric control system;

[0033] 60 - heliostat. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0035] The utility model aims at providing a walking type heliostat cleaning vehicle to solve the problems in the prior art, which can flexibly adjust the cleaning distance from the heliostat, reduce the mirror surface damage, improve the mirror surface cleanliness and ensure the cleaning effect.

[0036] In order to make the above objectives, features and advantages of the present application more apparent, a further detailed description of the present application will be given below with reference to the drawings and specific embodiments.

[0037] Embodiment one

[0038] The embodiment provides a walking type heliostat cleaning vehicle, as shown in the drawings, which comprises a traveling vehicle 10 with a hydraulic low-speed traveling system 11, a mechanical arm 20, a cleaning mechanism 30 and a controller. Figures 1-6 The free end of the mechanical arm 20 is provided with an oscillating mechanism 28; the cleaning mechanism 30 comprises a cleaning frame 31, a cleaning roller brush 32, a spraying assembly, a rear scraper 35 and a sensor group; the cleaning frame 31 is rotationally arranged at the free end of the mechanical arm 20 about a first axis, and the oscillating mechanism 28 is used to drive the cleaning frame 31 to rotate about the first axis, which is parallel to the horizontal plane; the mechanical arm 20 can adjust the relative position of the cleaning frame 31 and the heliostat 60; the cleaning roller brush 32 is rotationally arranged on the cleaning frame 31 about a second axis, which is perpendicular to the first axis, and the cleaning frame 31 is provided with a cleaning driver for driving the cleaning roller brush 32 to rotate; the spraying assembly comprises a front low-pressure spraying pipe 33 and a rear high-pressure flushing pipe 34 arranged on the cleaning frame 31, and a plurality of spraying holes are arranged on the front low-pressure spraying pipe 33 and the rear high-pressure flushing pipe 34, and the spraying holes are arranged in sequence along the axis direction of the cleaning roller brush 32; in the advancing direction of the traveling vehicle 10, the front low-pressure spraying pipe 33 is arranged at the front end of the cleaning roller brush 32, the rear high-pressure flushing pipe 34 is arranged at the rear end of the cleaning roller brush 32, and the rear scraper 35 is arranged on the cleaning frame 31 at the rear end of the high-pressure flushing pipe, and the rear end of the rear scraper 35 abutting against the heliostat 60 is made of flexible material; the sensor group is used to detect the relative position of the cleaning roller brush 32 and the heliostat 60; the controller is in communication connection with the mechanical arm 20, the cleaning driver, the spraying assembly and the sensor group.

[0039] By setting the traveling vehicle 10 with the hydraulic low-speed traveling system 11, the traveling vehicle 10 is provided with a switchable low-speed operation mode and a vehicle normal traveling mode, the low-speed operation mode can realize stepless speed regulation in the range of 0-5 km / h without stepping on the brake, the low-speed traveling speed adjustment range is large, different traveling speeds can be freely matched according to different road conditions, different cleaning channel widths and different cleaning modes, sufficient adjustment reaction time is reserved for the cleaning mechanism 30 to prevent collision with the mirror surface; the cleaning mechanism 30 adopts roller brush cleaning of the cleaning roller brush 32, and is provided with a front-end low-pressure spray pipe 33 and a rear-end high-pressure flushing pipe 34, and has multiple operation modes of low-pressure spray cleaning, high-pressure flushing cleaning, dry brushing and at least two of the three functions; and because the mechanical arm 20 and the mechanical arm 20 are rotationally connected with the cleaning frame 31 through the swing mechanism 28, the cleaning mechanism 30 can realize multi-degree-of-freedom adjustment, the sensor group is arranged, the cleaning mechanism 30 can be in the best cleaning position, and can adjust and control under various working conditions, flexibly adjust the cleaning distance of the mirror surface of the heliostat 60, reduce the mirror surface damage problem, and the rear-side scraper 35 can effectively remove the water stains and dirt remaining on the mirror surface, effectively improve the mirror surface cleanliness, and ensure the cleaning effect.

[0040] Specifically, the hydraulic low-speed traveling system 11 is a prior art, including a hydraulic pump, a hydraulic motor and other components, and the power comes from the engine PTO output, which will not be described in detail here; the speed can be manually input or input through a rotary adjustment knob, and the specific traveling speed can be selected and set according to road conditions, cleaning mode, mirror surface dirt degree and other factors; when performing scene switching, water adding and other operations, the normal traveling mode can be switched to realize high-speed traveling, save time and improve efficiency.

[0041] Among them, the related setting of the cleaning mechanism 30 is as follows:

[0042] The related setting of the cleaning roller brush 32 is as follows:

[0043] Specifically, the cleaning drive is a roller brush motor 321.

[0044] The related setting of the spray assembly is as follows:

[0045] In the optional scheme of the embodiment, preferably, a 110° solid cone nozzle is installed in each spray hole of the front-end low-pressure spray pipe 33; and a 60° fan-shaped nozzle is installed in each spray hole of the rear-end high-pressure flushing pipe 34.

[0046] Specifically, the axes of the front-end low-pressure spray pipe 33 and the rear-end high-pressure flushing pipe 34 are parallel to the axis of the cleaning roller brush 32.

[0047] Specifically, the front-end low-pressure spray pipe 33 and the rear-end high-pressure flushing pipe 34 can be switched by an electromagnetic valve.

[0048] Regarding the rear scraper 35:

[0049] In an optional embodiment of the present application, preferably, as shown in Figure 1 , Figure 3 and Figure 4 , the rear scraper 35 comprises a plurality of scraper segments 36; each scraper segment 36 is arranged in sequence from top to bottom along the mirror width direction of the heliostat 60; in the driving direction of the vehicle 10, each scraper segment 36 is arranged in sequence from top to bottom and offset backward; and each adjacent two scraper segments 36 have an overlapping area. The rear scraper 35 is formed by a plurality of scraper segments 36 arranged in sections, which can ensure the pressure balance between the rear scraper 35 and the mirror surface, effectively remove the residual water stains and dirt on the mirror surface, and effectively improve the mirror cleanliness.

[0050] Specifically, as shown in Figure 1 and Figure 3 , four scraper segments 36 can be provided.

[0051] In an optional embodiment of the present application, preferably, as shown in Figure 3 and Figure 4 , the scraper segment 36 comprises a scraper strip 361, a clamping plate 362, a spring steel plate 363 and a fixed support 364; the scraper strip 361 is made of soft material such as silica gel, and the scraper strip 361 is detachably fixed on the clamping plate 362; the clamping plate 362 is fixed on one end of the spring steel plate 363, the other end of the spring steel plate 363 is fixedly connected with the fixed support 364, and the fixed support 364 is fixedly arranged on the cleaning frame 31.

[0052] Regarding the sensor group:

[0053] Specifically, the sensor group comprises four groups of position detection sensors and two groups of anti-collision limiters; the four groups of position detection sensors comprise an edge alignment distance sensor assembly, a mirror entry distance sensor assembly and a distance control distance sensor assembly, wherein the distance control distance sensor assembly comprises a front distance sensor 42 assembly and a rear distance sensor 43 assembly; the two groups of anti-collision limiters are limit sensor assemblies.

[0054] In an optional embodiment of the present application, preferably, as shown in Figure 1 and Figure 3 , the sensor group comprises an edge alignment distance sensor assembly, a mirror entry distance sensor assembly and a distance control distance sensor assembly arranged on the cleaning frame 31; the edge alignment distance sensor assembly is used to detect the relative distance between the cleaning roller brush 32 and the upper and lower edges of the heliostat 60; the mirror entry distance sensor assembly is used to detect the distance between the cleaning roller brush 32 and the mirror surface when the cleaning roller brush 32 enters the mirror surface of the heliostat 60; and the distance control distance sensor assembly is used to detect the relative distance between the cleaning roller brush 32 and the mirror surface of the heliostat 60.

[0055] Specifically, the edge alignment distance sensor assembly includes one edge distance sensor 40 arranged on the front end of the cleaning roller brush 32 in the up and down direction, which is used to detect the up and down edge position of the heliostat 60, feedback information, and control the height position of the cleaning mechanism 30 through the controller to control the mechanical arm 20.

[0056] Specifically, the mirror entering distance sensor assembly includes one front end distance sensor 41 arranged on the front end of the cleaning roller brush 32 in the up and down direction, which is used to detect the distance when the cleaning mechanism 30 enters the mirror surface. The controller controls the mechanical arm 20 to adjust the distance between the cleaning mechanism 30 and the mirror surface of the heliostat 60 according to the detection data. When the distance exceeds the adjustment range of the mechanical arm 20, the driver is reminded to approach or move away from the heliostat 60 to prevent collision with the mirror surface.

[0057] Specifically, the front distance sensor 42 assembly includes one front distance sensor 42 arranged on the front end of the cleaning roller brush 32 in the up and down direction, which is used to detect the distance between the up and down sides of the cleaning mechanism 30 and the mirror surface. By comparing the distances, it is determined whether the cleaning mechanism 30 is parallel to the mirror surface. Feedback information is used to control the angle position of the cleaning mechanism 30 through the controller to control the swing mechanism 28. When the mirror surface signal is detected, the roller brush motor 321 and the water pump 13 are started to prepare for cleaning work. The rear distance sensor 43 assembly includes one rear distance sensor 43 arranged on the rear end of the cleaning roller brush 32 in the up and down direction. In addition to cooperating with the front distance sensor 42 to determine whether the cleaning mechanism 30 is parallel to the mirror surface, it can also be used to determine whether the cleaning mechanism 30 has driven out of the mirror surface. When there is no mirror surface detection signal, the roller brush motor 321 and the water pump 13 are turned off to save resources and wait for the mirror surface signal to be detected again.

[0058] In the optional scheme of the present embodiment, as shown in Figure 1 and Figure 3 The sensor group further includes a limit sensor assembly arranged on the cleaning frame 31. The distance control distance sensor assembly is an ultrasonic distance type sensor. The limit sensor assembly includes at least one front limit switch 44 (one on each side, up and down) and at least one rear limit switch 45 (one on each side, up and down). In the driving direction of the vehicle 10, the front limit switch 44 is arranged at the front end of the cleaning roller brush 32, and the rear limit switch 45 is arranged at the rear end of the cleaning roller brush 32. The distance between the front limit switch 44 and the rear limit switch 45 and the mirror surface of the heliostat 60 is the safety limit distance. The front limit switch 44 and the rear limit switch 45 are used to prevent the vehicle from being too close to the heliostat 60 or the installation base 21 from rotating too much, which may cause the mirror surface to collide, as a second safety measure for mirror protection.

[0059] In the above, the relevant setting of the mechanical arm 20 is described as follows:

[0060] In the optional solution of the embodiment, preferably, as shown in Figure 1 and Figure 5 , the mechanical arm 20 comprises a mounting base 21, an inclined support arm 22, a lifting arm 23, a telescopic arm 24, a rotating mechanism 26, a telescopic mechanism 27, and a rotating mechanism 25; the mounting base 21 is fixedly arranged on the traveling vehicle 10; the lower end of the inclined support arm 22 (the lower end of the inclined support arm 22 is fixed with a base, and the base is rotatably arranged on the mounting base 21 through the rotating mechanism 25, and a inclined support plate is further fixedly arranged around the connection between the base and the lower end of the inclined support arm 22) is arranged on the mounting base 21 through the rotating mechanism 25, and the rotating mechanism 25 can drive the inclined support arm 22 to rotate around a vertical axis; one end of the lifting arm 23 is rotatably connected with the upper end of the inclined support arm 22 around a lifting axis, and the lifting axis is parallel to the first axis; the telescopic arm 24 is slidably arranged in the lifting arm 23 along the axis of the lifting arm 23 through the telescopic mechanism 27; the distal end of the telescopic arm 24 is connected with the cleaning frame 31 through the swinging mechanism 28; one end of the rotating mechanism 26 is hingedly connected with the lower end of the inclined support arm 22, and the other end of the rotating mechanism 26 is hingedly connected with the lifting arm 23 (the rotating mechanism 26 is a lifting cylinder).

[0061] Specifically, the rotating mechanism 25 can be adjusted to rotate left and right by 5° during the cleaning operation, so as to ensure that the cleaning mechanism 30 is parallel to the mirror surface of the heliostat 60, and when the operation is stopped, the rotating mechanism 25 can be rotated counterclockwise by 90°, so as to place the mechanical arm 20 and the cleaning mechanism 30 above the vehicle.

[0062] Specifically, the lifting arm 23 is swung up and down by the lifting cylinder, so as to adjust the posture of the cleaning mechanism 30 in the height position, and the maximum adjustment amount of the cleaning mechanism 30 can reach 1.8 meters.

[0063] Specifically, the telescopic arm 24 is extended and retracted by the telescopic mechanism 27 (a telescopic cylinder), so as to adjust the distance between the cleaning mechanism 30 and the mirror surface, and the maximum adjustment amount can reach 1 meter.

[0064] Specifically, a rotating position sensor can be installed at the rotating mechanism 25, which is used to measure the rotating angle of the rotating mechanism 25; a lifting position sensor can be installed at the rotating mechanism 26, which is used to detect the lifting stroke range; a telescopic position sensor (a linear displacement sensor) can be installed at the telescopic mechanism 27, which is used to measure the extension amount of the telescopic arm 24; a swinging position sensor can be installed at the swinging mechanism 28, which is used to measure the swinging angle; the above corresponding sensors all adopt existing sensors, which detect the positions in real time, and cooperate with the controller to realize accurate control.

[0065] In the optional solution of the embodiment, preferably, as shown in Figure 1 and Figure 2As shown, the swing mechanism 28 comprises a servo motor 281, a planetary reducer 282 and a rotary reducer 283; the cleaning frame 31 is fixedly provided with a connecting bracket 311, the connecting bracket 311 is rotatably arranged at the free end of the mechanical arm 20 about a first axis through a rotating shaft 312; the output end of the servo motor 281 is in transmission connection with the input end of the planetary reducer 282, the output end of the planetary reducer 282 is in transmission connection with the input end of the rotary reducer 283, and the output end of the rotary reducer 283 is fixedly connected with the rotating shaft 312.

[0066] Specifically, the rotary reducer 283 in the swing mechanism 28 is of an existing structure, and its working principle and related settings will not be described in detail.

[0067] Specifically, the swing mechanism 28 can realize the angle adjustment of the cleaning mechanism 300 by 8°, so as to ensure that the cleaning mechanism 30 is parallel to the mirror surface; when it is necessary to retract the cleaning mechanism 30 or to change the scene, the cleaning mechanism 30 can be turned up by 90°.

[0068] Among them, the related setting of the traveling vehicle 10 is as follows:

[0069] In the optional scheme of the embodiment, preferably, as shown in Figure 1 and Figure 6 As shown, the lower end of the mechanical arm 20 is installed on the chassis at the rear side of the cab of the traveling vehicle 10; the chassis of the traveling vehicle 10 is further fixedly provided with a water tank 12, and the chassis of the traveling vehicle 10 is further provided with a water pump 13, the water inlet of the water pump 13 is in communication with the water tank 12, and the water outlet of the water pump 13 is in communication with the front-end low-pressure spray pipe 33 and the rear-end high-pressure flushing pipe 34; in the width direction of the traveling vehicle 10, the chassis of the traveling vehicle 10 is further provided with a counterweight 14 arranged side by side with the mechanical arm 20.

[0070] In the optional scheme of the embodiment, preferably, as shown in Figure 1 and Figure 6 As shown, the chassis of the traveling vehicle 10 is further fixedly provided with a generator set 15 (which can be a diesel generator set, and is used to supply electric energy to the required electric energy equipment).

[0071] Specifically, the traveling vehicle 10 is provided with an electric control system 50, and the controller is arranged in the electric control system 50.

[0072] Specifically, the electric control system 50 is used to collect the input signals of all sensors, electric cylinders, servo motors 281, etc., control the actions of various functional components, and realize the accurate adjustment and control of the position of the cleaning mechanism 30. In addition, the supply of cleaning water is also uniformly controlled by the electric control system 50; specifically, a PLC control system is adopted, which is equipped with a wide voltage power supply module and can be applicable to various power supply conditions such as vehicle starting, stopping and running, so as to ensure the safe operation of the PLC control system and the reliable action of each executing mechanism. The PLC control system is a prior art, and will not be described in more detail here.

[0073] Working process description:

[0074] (1) Start preparation: control the rotating mechanism 25 to rotate the mechanical arm 20 clockwise by 90°, rotate the cleaning mechanism 30 out of the side of the vehicle; control the swing mechanism 28 to overturn the horizontally placed cleaning mechanism 30 to a vertical state; switch the driving mode to a low-speed driving mode, set the vehicle driving speed, set the cleaning operation mode, and prepare for driving operation.

[0075] (2) Detection and adjustment of the heliostat 60: start the vehicle to drive forward, adjust the driving direction of the vehicle to approach or move away from the mirror surface according to the mirror surface signal detected by the front distance measuring sensor 41; the up-down edge distance measuring sensor detects the up-down edge position of the heliostat 60, and the electric control system 50 controls the pitching action of the mechanical arm 20 to adjust the up-down height position of the cleaning mechanism 30; after the mirror surface signal is detected by the front distance measuring sensor 42, the electric control system 50 controls the water pump 13 to start (if the water washing mode is selected), the roller brush motor 321 starts, and the monitoring data of the up-down front distance measuring sensor 42 is compared to determine whether the angle of the cleaning mechanism 30 is parallel to the mirror surface. If not, the electric control system 50 controls the swing mechanism 28 to adjust the angle of the cleaning mechanism 30 to ensure that the cleaning mechanism 30 is parallel to the mirror surface.

[0076] (3) Cleaning operation: as the vehicle drives, the cleaning operation starts, and during the cleaning process, the position of the cleaning mechanism 30 changes constantly due to uneven road surface and other reasons, and the operation of step (2) is continuously performed. When the rear distance measuring sensor 43 cannot detect the mirror surface signal, it is determined that the cleaning mechanism 30 has moved out of the mirror surface cleaning range, and the electric control system 50 controls the water pump 13 and the roller brush motor 321 to be turned off, and the vehicle drives forward to prepare for cleaning the next mirror, and steps (2) and (3) are repeated.

[0077] (4) Complete the cleaning operation and turn to the transition or storage state (i.e. the retracted state): the electric control system 50 controls the swing mechanism 28 to overturn the cleaning mechanism 30 in the vertical state to the horizontal state, controls the mechanical arm 20 to rotate the rotating mechanism 25 counterclockwise by 90 degrees, rotates the cleaning mechanism 30 to above the vehicle, switches the driving mode to the normal driving mode, and drives away from the mirror field or stops.

[0078] The equipment layout on the vehicle chassis platform fully considers the balance of the overturning and stable moment of the equipment in the dynamic load and static load state, considers that the bending moment generated by the equipment side inclination of the water tank 12 in the full water and empty water conditions is within the overturning line, and ensures the stability of the vehicle in the running and parking cleaning work. A counterweight structure is arranged above the vehicle chassis and right of the mechanical arm 20 to stabilize the vehicle body (namely, the counterweight block 14).

[0079] The principle and implementation mode of the specific examples are used to illustrate the principle and implementation mode of the present application, and the above embodiment is only used to help understand the method and core idea of the present application. Meanwhile, for the general skilled in the art, the specific implementation mode and application range will be changed according to the idea of the present application. In conclusion, the content of the present application should not be understood as the limitation of the present application.

Claims

1. A mobile heliostat cleaning vehicle, characterized in that: This includes a vehicle with a hydraulic low-speed travel system, a robotic arm, a cleaning mechanism, and a controller; One end of the robotic arm is mounted on the vehicle, and the free end of the robotic arm is provided with a swing mechanism. The cleaning mechanism includes a cleaning frame, cleaning rollers, a spray assembly, a rear scraper, and a sensor group. The cleaning frame is rotatably mounted on the free end of the robotic arm about a first axis, and the swing mechanism drives the cleaning frame to rotate about the first axis, which is parallel to the horizontal plane. The robotic arm can adjust the relative position of the cleaning frame and the heliostat. The cleaning rollers are rotatably mounted on the cleaning frame about a second axis, which is perpendicular to the first axis, and the cleaning frame is equipped with a cleaning driver for driving the cleaning rollers to rotate. The spray assembly includes components mounted on the cleaning frame... The frame includes a front low-pressure spray pipe and a rear high-pressure rinsing pipe, each with multiple spray holes arranged sequentially along the axis of the cleaning roller brush. In the forward direction of the vehicle, the front low-pressure spray pipe is positioned at the front of the cleaning roller brush, and the rear high-pressure rinsing pipe is positioned at the rear of the cleaning roller brush. A rear scraper is mounted on the cleaning frame at the rear of the high-pressure rinsing pipe, and the end of the rear scraper that contacts the heliostat is made of a flexible material. The sensor group is used to detect the relative position of the cleaning roller brush and the heliostat. The controller is communicatively connected to the robotic arm, the cleaning driver, the spray assembly, and the sensor group.

2. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: The rear scraper includes multiple scraper segments; each scraper segment is arranged sequentially up and down along the width direction of the heliostat's mirror surface. In the direction of travel of the vehicle, each of the scraper segments is arranged in a staggered manner from top to bottom; Furthermore, the connection points of two adjacent scraper segments have overlapping areas.

3. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: Each of the spray holes in the front low-pressure spray pipe is equipped with a 110° solid cone nozzle; each of the spray holes in the rear high-pressure flushing pipe is equipped with a 60° fan-shaped nozzle.

4. The mobile heliostat cleaning vehicle according to claim 2, characterized in that: The scraper section includes a scraper blade, a clamping plate, a spring steel plate, and a fixed bracket; The scraper is made of silicone and is detachably fixed to the clamp. The clamping plate is fixedly installed at one end of the spring steel plate, and the other end of the spring steel plate is fixedly connected to the fixed bracket, which is fixedly installed on the cleaning rack.

5. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: The sensor group includes an edge alignment distance sensor assembly, an entrance lens distance sensor assembly, and a control distance distance sensor assembly disposed on the cleaning rack. The edge alignment distance sensor assembly is used to detect the relative distance between the cleaning roller brush and the upper and lower edges of the heliostat; the entry distance sensor assembly is used to detect the distance between the cleaning roller brush and the heliostat when the cleaning roller brush enters the mirror surface; the control distance sensor assembly is used to detect the relative distance between the cleaning roller brush and the heliostat.

6. The mobile heliostat cleaning vehicle according to claim 5, characterized in that: The sensor group also includes a limit sensor assembly disposed on the cleaning rack; The distance control and ranging sensor assembly is an ultrasonic ranging sensor. The limit sensor assembly includes at least one front limit switch and at least one rear limit switch; in the direction of travel of the vehicle, the front limit switch is located at the front end of the cleaning roller brush, and the rear limit switch is located at the rear end of the cleaning roller brush; and the distance between the front limit switch and the rear limit switch and the mirror surface of the heliostat is a safe limit distance.

7. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: The robotic arm includes a mounting base, a slanted support arm, a lifting arm, a telescopic arm, a lifting mechanism, a telescopic mechanism, and a rotation mechanism. The mounting base is fixedly installed on the vehicle. The lower end of the inclined support arm is mounted on the mounting base via the rotary mechanism, which can drive the inclined support arm to rotate around the vertical axis. One end of the lifting arm is rotatably connected to the upper end of the inclined support arm around the lifting axis, which is parallel to the first axis; the telescopic arm is slidably disposed within the lifting arm along the axis of the lifting arm via the telescopic mechanism; the end of the telescopic arm is connected to the washing rack via the swing mechanism; one end of the lifting mechanism is hinged to the lower end of the inclined support arm, and the other end of the lifting mechanism is hinged to the lifting arm.

8. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: The lower end of the robotic arm is mounted on the chassis behind the cab of the vehicle. A water tank is fixedly installed at the rear end of the chassis of the vehicle, and a water pump is also installed on the chassis of the vehicle. The water inlet of the water pump is connected to the water tank, and the water outlet of the water pump is connected to both the front low-pressure spray pipe and the rear high-pressure flushing pipe. In the width direction of the vehicle, a counterweight block is also provided on the chassis of the vehicle, arranged side by side with the robotic arm.

9. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: A generator set is also fixedly installed on the chassis of the vehicle.

10. The mobile heliostat cleaning vehicle according to claim 1, characterized in that: The swing mechanism includes a servo motor, a planetary reducer, and a rotary reducer. A connecting bracket is fixedly installed on the cleaning rack. The connecting bracket is rotatably mounted on the free end of the robotic arm via a rotating shaft around the first axis. The output end of the servo motor is driven to the input end of the planetary reducer. The output end of the planetary reducer is driven to the input end of the rotary reducer. The output end of the rotary reducer is fixedly connected to the rotating shaft.

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