A mechanical arm device for cleaning a heliostat mirror

Abstract

The utility model relates to a heliostat mirror field cleaning equipment field, especially a mechanical arm device for cleaning heliostat mirror surface, including turntable stand, main arm outer arm, hinged pivot and main arm amplitude cylinder, the main arm outer arm is rotatively connected on the turntable stand through the hinged pivot, and the main arm amplitude cylinder is used for driving the main arm outer arm to do the pitch rotation around the hinged pivot, still including arm support anti -fall mechanism, the utility model discloses through setting arm support anti -fall mechanism, the speed -up transmission structure of engaging of cooperation gear wheel, can under the hydraulic system failure scene of main arm amplitude cylinder pressure loss, pipeline burst etc., enlarge the low -speed rotation of arm support falling as high -speed rotation, and fast trigger centrifugal locking action, the protection covers arm support arbitrary pitch angle, trigger response fast, locking stroke is short, can effectively curb arm support falling impact, avoid high -value heliostat mirror surface and cleaning equipment damage, and the safety redundancy of mirror field cleaning operation is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of solar thermal power generation mirror cleaning equipment, and in particular to a robotic arm device for cleaning heliostat mirrors. Background Technology

[0002] The heliostat field is a core component of a tower-type concentrated solar power (CSP) system. The cleanliness of the heliostat mirrors directly determines the reflection efficiency and power generation efficiency. Therefore, it is necessary to clean the mirrors regularly using cleaning equipment equipped with multi-degree-of-freedom robotic arms. The cleaning robotic arms typically have pitch, extension, and rotation adjustment functions to adapt to heliostat mirrors in different positions and at different tilt angles. The pitch movement of the arm is mostly driven by hydraulic cylinders.

[0003] Current heliostat protection systems for cleaning robotic arms generally rely solely on hydraulic components such as hydraulic locks and balance valves, which are internal hydraulic system protections. However, solar thermal mirror fields are often located in harsh outdoor areas such as deserts and Gobi, where there is heavy dust and large temperature differences between day and night, making hydraulic lines and seals prone to aging and failure. In extreme cases such as oil pipe rupture, internal leakage of cylinder seals, or hydraulic lock failure, the main boom luffing cylinder may suddenly lose pressure, causing the boom to lose support and fall rapidly. This would not only damage the cleaning equipment itself but also directly damage the valuable heliostat mirrors, resulting in serious economic losses. Utility Model Content

[0004] This invention provides a robotic arm device for cleaning the surface of a heliostat, which can effectively solve the above-mentioned problems.

[0005] This utility model is implemented as follows: A robotic arm device for cleaning heliostat mirrors, comprising: a turntable column, a main arm, a hinge shaft, and a main arm luffing cylinder. The main arm is rotatably connected to the turntable column via the hinge shaft. The main arm luffing cylinder drives the main arm to pitch around the hinge shaft. The device is characterized by further including a boom fall protection mechanism, comprising a protective cover fixedly installed on the outside of the turntable column, and a first gear coaxially fixedly fitted at the end of the hinge shaft and rotating synchronously with the main arm. The first gear is located within the protective cover. Above, inside the protective cover, there is a second gear that is rotatably connected to the outside of the turntable column and meshes with the first gear. The second gear has a rotating disk that is fixedly connected to it on the same axis. The rotating disk is equipped with a centrifugal locking assembly to prevent the main arm's outer arm from falling accidentally. The rotating disk has a fixed shaft that is connected to it on the same axis. The centrifugal locking assembly includes two centrifugal blocks that are hinged to the rotating disk surface and are symmetrically arranged in the center. A spring is connected between the centrifugal blocks and the fixed shaft. The protective cover forms a rotating cavity corresponding to the centrifugal blocks. Two locking blocks are respectively provided on the inner wall of the rotating cavity.

[0006] As a further improvement, the diameter of the second gear is 1 / 3 to 2 / 3 of the diameter of the first gear.

[0007] As a further improvement, the rotating disk is also provided with a third gear, which is sleeved on the outside of the fixed shaft through a bearing, and the centrifugal block is provided with protruding teeth that mesh with the third gear on the side near the fixed shaft.

[0008] As a further improvement, each locking block has a wedge-shaped guide surface that abuts against the end of the centrifugal block away from the fixed axis.

[0009] As a further improvement, the centrifugal block is provided with an abutment portion at the end away from the fixed shaft, and the shape of the abutment surface of the abutment portion is adapted to the wedge-shaped guide surface of the locking block.

[0010] As a further improvement, the spring is a tension spring, the centrifugal block is provided with a first hanging post, the fixed shaft is provided with a second hanging post, and the two ends of the spring are respectively hung on the first hanging post and the second hanging post.

[0011] The beneficial effects of this utility model are: 1. This utility model, by setting up a boom anti-fall mechanism and cooperating with a speed-increasing transmission structure with meshing large and small gears, can amplify the low-speed rotation of the boom falling into high-speed rotation in hydraulic system failure scenarios such as loss of pressure in the main boom luffing cylinder or pipeline rupture. At the same time, it is combined with a centrifugal locking component to quickly lock the outer boom of the main boom. The protection covers any pitch angle of the boom, with fast trigger response and short locking stroke, which can effectively curb the impact of boom falling, avoid damage to high-value heliostat mirrors and cleaning equipment, and greatly improve the safety redundancy of mirror cleaning operations.

[0012] 2. The centrifugal locking assembly of this utility model adopts a symmetrically arranged double centrifugal block structure, which, together with the precise fit between the wedge-shaped guide surface and the abutment part, makes the locking process smooth and reliable, avoiding unilateral jamming or excessive impact.

[0013] 3. This utility model, by setting a rotatable third gear on a fixed shaft, synchronously meshes with the convex teeth on the inner side of the two centrifugal blocks, which can force the two centrifugal blocks to maintain linkage. When locked, the two centrifugal blocks on both sides are thrown out synchronously and simultaneously abut against the locking block. The load is symmetrically distributed along the rotation center, which can avoid failures such as deformation of the hinge shaft, gear tooth breakage, and local breakage of the locking surface caused by uneven load. The impact is buffered more evenly. When retracting and resetting, it can also retract synchronously to prevent unilateral jamming from affecting the normal pitch of the boom, which significantly improves the overall operational stability and service life of the mechanism. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of a robotic arm device for cleaning the surface of a heliostat according to this utility model; Figure 2 This is a structural schematic diagram of the turntable column and the main arm outer arm of this utility model; Figure 3 This is a utility model Figure 2 Enlarged structural diagram of A in the middle; Figure 4 This is a schematic diagram of the internal structure of the boom anti-fall mechanism of this utility model. Figure 1 ; Figure 5 This is a schematic diagram of the centrifuge block of this utility model in its unexpanded state; Figure 6 This is a schematic diagram of the internal structure of the boom anti-fall mechanism of this utility model. Figure 2 ; Figure 7 This is a schematic diagram of the centrifugal block of this utility model in the unfolded and locked state.

[0016] In the diagram: 1. Turntable column; 2. Main boom outer boom; 3. Hinge shaft; 4. Main boom luffing cylinder; 5. Boom anti-fall mechanism; 51. Protective cover; 511. Rotating cavity; 512. Locking block; 52. First gear; 53. Second gear; 54. Rotary disk; 55. Fixed shaft; 551. Second hanging column; 56. Centrifugal block; 561. Protruding tooth; 562. Abutment part; 563. First hanging column; 57. Spring; 6. Third gear; 7. Bearing. Detailed Implementation

[0017] All embodiments of this utility model are intended to fall within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely to illustrate selected embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0018] In the description of this utility model, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating that the purpose, technical solution, and advantages of the method are clearer. The technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without inventive effort indicate or imply the relative importance of the indicated technical features. Therefore, features defined with "first" and "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0019] Existing anti-pitch fall protection for cleaning robotic arms generally relies solely on hydraulic components such as hydraulic locks and balance valves, which are internal protection mechanisms within the hydraulic system. However, solar thermal mirror fields are often located in harsh outdoor areas such as deserts and Gobi, with heavy dust and large temperature differences between day and night, making hydraulic lines and seals prone to aging and failure. In extreme cases such as oil pipe rupture, internal leakage of cylinder seals, or hydraulic lock failure, the main boom luffing cylinder may suddenly lose pressure, causing the boom to lose support and fall rapidly. This would not only damage the cleaning equipment itself but also directly damage the valuable heliostat mirrors, resulting in serious economic losses. To solve the above technical problems, this case proposes the following technical solution: Reference Figures 1-7 As shown, a robotic arm device for cleaning heliostat mirrors includes a turntable column 1, a main arm outer arm 2, a hinge shaft 3, and a main arm luffing cylinder 4. The main arm outer arm 2 is rotatably connected to the upper part of the turntable column 1 via the hinge shaft 3. The cylinder body end of the main arm luffing cylinder 4 is hinged to the lower part of the turntable column 1, and the piston rod end is hinged to the arm body of the main arm outer arm 2. The piston rod extends and retracts to drive the main arm outer arm 2 to pitch and rotate around the hinge shaft 3, thereby adjusting the working height and contact angle of the front cleaning brush holder. The boom anti-fall mechanism 5 includes a protective cover 51, a first gear 52, a second gear 53, and a rotating disk 54. The rotating disk 54 is equipped with a centrifugal locking component to prevent the outer boom 2 of the main boom from falling accidentally. The locking is triggered by centrifugal force. When the main boom luffing cylinder 4 loses pressure and causes the boom to fall rapidly, the rotation speed of the rotating disk 54 increases sharply, and the centrifugal locking component locks the outer boom of the main boom quickly, preventing the boom from falling further and thus avoiding collision damage between the cleaning mechanism and the heliostat.

[0020] It also includes a fixed shaft 55, centrifugal blocks 56, and springs 57. The protective cover 51 is bolted to the outer wall of the turntable column 1, forming a sealed rotating cavity 511 inside, which can prevent external sand and rainwater from entering the internal moving parts, adapting to the harsh outdoor working conditions of the photothermal mirror field. The first gear 52 is coaxially fixedly mounted on the outer end of the hinge shaft 3, rotating synchronously with the hinge shaft 3 and the outer arm 2 of the main arm, and the first gear 52 is located in the upper region inside the protective cover 51; the second gear 53 is rotatably connected to the outer wall of the turntable column 1, and is located in the lower part inside the protective cover 51, the second gear 53 meshing with the first gear 52 to form a speed-increasing transmission pair. The rotating disk 54 is coaxially fixedly connected to the second gear 53 and rotates synchronously with the second gear 53; the fixed shaft 55 is vertically fixed at the center of the rotating disk 54 facing the protective cover 51. The two centrifugal blocks 56 are respectively hinged to the surface of the rotating disk 54 via hinge shafts, and are centrally symmetrically distributed about the fixed shaft 55. Spring 57 connects the fixed shaft 55 and the centrifugal blocks 56. Under normal conditions, spring 57 is in a stretched state, applying a centrifugal force to the centrifugal blocks 56, keeping the two centrifugal blocks 56 in a contracted state and preventing them from contacting the inner wall of the rotating cavity 511. Two locking blocks 512 are fixedly installed on the inner wall of the rotating cavity 511, and the positions of the two locking blocks 512 correspond one-to-one with the throwing path of the centrifugal blocks 56.

[0021] During normal operation, the boom luffing cylinder 4 drives the boom outer arm 2 to pitch smoothly. The hinge shaft 3 drives the first gear 52 to rotate at low speed. After the second gear 53 increases the speed, the rotating disk 54 maintains a low speed. At this time, the centrifugal force on the centrifugal block 56 is less than the tension of the spring 57, and it always remains in a contracted state. There is no movement interference in the mechanism, and it does not affect the normal pitch adjustment of the boom. When the boom luffing cylinder 4 or the hydraulic line fails, and the boom outer arm 2 stalls and falls under its own weight and the load of the front brush holder, the hinge shaft 3 rotates rapidly with the boom, driving the first gear 52 to rotate synchronously at an accelerated speed. The first gear 52 meshes with the second gear 53, and because the second gear 53 has a smaller diameter, the speed is further amplified, driving the rotating disk 54 to rotate at high speed. When the speed reaches the trigger threshold, the centrifugal force on the centrifugal block 56 overcomes the tension of the spring 57, swings outward around its own hinge shaft, and the outer end of the centrifugal block 56 abuts against the stop surface of the locking block 512, preventing the rotating disk 54 from continuing to rotate. Then, through gear transmission, the hinge shaft 3 is locked in the opposite direction, forcibly preventing the boom outer arm 2 from continuing to fall, thus achieving fall protection.

[0022] Furthermore, the diameter of the second gear 53 is 1 / 3 to 2 / 3 of the diameter of the first gear 52, and in this embodiment, it is preferably 1 / 2.

[0023] Furthermore, the rotating disk 54 is also provided with a third gear 6, which is rotatably mounted on the outside of the fixed shaft 55 via a bearing 7; both centrifugal blocks 56 are provided with protruding teeth 561 on the arc surface of one side near the fixed shaft 55, and the protruding teeth 561 on both sides mesh with the third gear 6 at the same time.

[0024] When one of the centrifugal blocks 56 swings outward under the action of centrifugal force, the convex tooth 561 drives the third gear 6 to rotate around the fixed shaft 55; the third gear 6 synchronously drives the convex tooth 561 of the other centrifugal block 56, driving the other centrifugal block 56 to swing outward synchronously at the same angle; similarly, when the speed decreases and the spring 57 pulls the centrifugal block 56 to retract, the centrifugal blocks on both sides also retract synchronously through the third gear 6.

[0025] The synchronous transmission of the third gear 6 eliminates the problem of asynchronous movement of the two centrifugal blocks caused by machining errors and spring tension differences, ensuring that the two centrifugal blocks 56 always swing synchronously and simultaneously abut against the locking block 512, avoiding the uneven load caused by one side triggering first; the load is symmetrically distributed when locking, which can prevent failures such as hinge shaft deformation and gear tooth breakage, and greatly improve the locking stability and service life of the mechanism.

[0026] Furthermore, each locking block 512 has a wedge-shaped guide surface that abuts against the end of the centrifugal block 56 away from the fixed shaft 55, and the guide surface is inclined along the rotation direction.

[0027] When the centrifugal block 56 is thrown outward, its end first contacts the inclined surface of the wedge-shaped guide surface, and gradually fits and locks along the inclined surface, effectively buffering the impact at the moment of locking and reducing the risk of component damage; at the same time, the wedge-shaped surface can form a wedge tightening effect. The greater the load of the boom falling, the stronger the wedge tightening force between the centrifugal block and the locking block, avoiding slippage and significantly improving the reliability of locking.

[0028] Furthermore, the centrifugal block 56 is provided with an abutment portion 562 at one end away from the fixed shaft 55. The shape of the abutment surface of the abutment portion 562 is adapted to the wedge-shaped guide surface of the locking block 512. By the abutment portion 562 with the adapted shape cooperating with the wedge-shaped guide surface, the contact area during locking can be increased, the contact stress can be reduced, and the deformation and breakage of the component caused by local stress concentration can be avoided.

[0029] Furthermore, the spring 57 is a tension spring, a first hanging post 563 is fixed on the centrifugal block 56, and a second hanging post 551 is fixed on the fixed shaft 55. The two ends of the spring 57 are respectively hung on the first hanging post 563 and the second hanging post 551. The hanging post installation method is simple in structure and convenient in assembly. Springs with different elastic coefficients can be quickly replaced according to different trigger speed requirements, and the anti-fall trigger threshold can be flexibly adjusted. At the same time, the hanging connection is easy to disassemble and assemble, which facilitates the later maintenance and replacement of springs and improves the maintainability of the mechanism.

[0030] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic arm device for cleaning the surface of a heliostat, comprising: The system includes a turntable column (1), a main boom outer boom (2), a hinge shaft (3), and a main boom luffing cylinder (4). The main boom outer boom (2) is rotatably connected to the turntable column (1) via the hinge shaft (3). The main boom luffing cylinder (4) is used to drive the main boom outer boom (2) to pitch around the hinge shaft (3). The system is characterized by further including a boom anti-fall mechanism (5). The boom anti-fall mechanism (5) includes a protective cover (51) fixedly installed on the outside of the turntable column (1), and a first gear (52) coaxially fixedly fitted at the end of the hinge shaft (3) and rotating synchronously with the main boom outer boom (2). The first gear (52) is located inside and above the protective cover (51), and below the protective cover (51) is a gear that is connected to the turntable column. (1) A second gear (53) is rotatably connected to the outside and meshes with the first gear (52). The second gear (53) has a rotating disk (54) fixedly connected to the same axis. The rotating disk (54) is provided with a centrifugal locking assembly to prevent the main arm outer arm (2) from falling accidentally. The rotating disk (54) has a fixed shaft (55) connected to the same axis. The centrifugal locking assembly includes two centrifugal blocks (56) that are hinged to the rotating disk (54) and are symmetrically arranged in the center. A spring (57) is connected between the centrifugal block (56) and the fixed shaft (55). The protective cover (51) forms a rotating cavity (511) corresponding to the centrifugal block (56). The inner wall of the rotating cavity (511) is provided with two locking blocks (512).

2. The robotic arm device for cleaning heliostat mirrors as described in claim 1, characterized in that: The diameter of the second gear (53) is 1 / 3 to 2 / 3 of the diameter of the first gear (52).

3. A robotic arm device for cleaning a heliostat mirror as described in claim 1 or 2, characterized in that: The rotating disk (54) is also provided with a third gear (6), which is sleeved on the outside of the fixed shaft (55) through a bearing (7). The centrifugal block (56) is provided with protruding teeth (561) that mesh with the third gear (6) on the side close to the fixed shaft (55).

4. The robotic arm device for cleaning a heliostat mirror as described in claim 3, characterized in that: Each locking block (512) has a wedge-shaped guide surface that abuts against the end of the centrifugal block (56) away from the fixed axis (55).

5. The robotic arm device for cleaning a heliostat mirror as described in claim 4, characterized in that: The centrifugal block (56) has an abutment part (562) at one end away from the fixed shaft (55), and the shape of the abutment surface of the abutment part (562) is adapted to the wedge-shaped guide surface of the locking block (512).

6. The robotic arm device for cleaning a heliostat mirror as described in claim 1, characterized in that: The spring (57) is a tension spring. The centrifugal block (56) is provided with a first hanging post (563) and the fixed shaft (55) is provided with a second hanging post (551). The two ends of the spring (57) are respectively hung on the first hanging post (563) and the second hanging post (551).

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