CN115569877A

CN115569877A - Heliostat cleaning vehicle

Info

Publication number: CN115569877A
Application number: CN202211272796.7A
Authority: CN
Inventors: 张春光; 刘佳慧; 刘嘉瑞; 唐贵富; 裴群武; 孙成旭; 李金澎; 吕艳
Original assignee: Shenyang Academy of Instrumentation Science Co Ltd; Sinomach Sensing Technology Co Ltd
Current assignee: Shenyang Academy of Instrumentation Science Co Ltd; Sinomach Sensing Technology Co Ltd
Priority date: 2022-10-18
Filing date: 2022-10-18
Publication date: 2023-01-06

Abstract

The application provides a heliostat washs car is applied to general washing technical field, heliostat washs car and includes automobile body, switch board, water supply mechanism, generating set, wiper mechanism and arm. The automobile body includes tractor and trailer mechanism, and the tractor is connected with trailer mechanism. The cleaning mechanism comprises a cleaning frame, a cleaning assembly and a scraper assembly, and the cleaning assembly and the scraper assembly are fixed on the cleaning frame. The water supply mechanism, the control cabinet and the generator set are fixed on the trailer mechanism, and the water supply mechanism is connected with the cleaning assembly. The generator set is electrically connected with the control cabinet, and the control cabinet is electrically connected with the water supply mechanism and the cleaning assembly. One end of the mechanical arm is fixed on the tractor, and the other end of the mechanical arm is fixedly connected with the cleaning frame. The heliostat cleaning vehicle is used for transporting and moving through the vehicle body, and the cleaning mechanism is controlled through the mechanical arm to carry out all-dimensional cleaning on the surface of the heliostat, so that the operation efficiency of heliostat cleaning is improved.

Description

Heliostat cleaning vehicle

Technical Field

The application relates to general washing technical field, especially relates to a heliostat washs car.

Background

A heliostat is an optical device that reflects the light of the sun or other celestial bodies in a fixed direction, also known as a starmirror. The heliostat is widely applied to the field of photo-thermal power generation, and the principle of the heliostat is to gather sunlight onto a heat absorber. Since the heliostat is placed in an outdoor environment, dust is very likely to accumulate on its surface. However, the cleanliness of the heliostat mirror surface affects the reflectivity of the mirror surface, reducing the incident energy of the heat absorber.

Therefore, in order to improve the photothermal conversion efficiency, the heliostat needs to be periodically cleaned. Generally, cleaning of heliostats is performed by manual cleaning. However, because the heliostat has a large volume, a large number of operators are required to be arranged in a manual cleaning mode, and the water consumption is large.

In order to reduce water consumption, a robot cleaning mode on the chip is also adopted. The on-chip robot walks on the mirror surface to further complete the cleaning work of the heliostat. However, when the heliostat surface is a discontinuous surface, the robot on the chip cannot normally complete the cleaning of the heliostat surface, resulting in low overall working efficiency.

Disclosure of Invention

The application provides a heliostat cleaning vehicle to solve the problem that the heliostat cleaning operation efficiency is low.

The application provides a heliostat washs car includes: automobile body, switch board, water supply mechanism, generating set, wiper mechanism and arm, wherein:

the vehicle body comprises a tractor and a trailer mechanism; the tractor comprises wheels and a frame; a wheel speed detection device is arranged on the wheel and comprises a wheel speed sensor and a signal panel; the signal disc is fixed on a wheel shaft of the wheel, the signal disc is connected with the wheel speed sensor, and the wheel speed sensor is fixed on the tractor; the wheel speed sensor is electrically connected with the control cabinet; the frame is detachably connected with the trailer mechanism;

the cleaning mechanism comprises a cleaning frame, a cleaning assembly and a scraper assembly, wherein the surface of the cleaning frame is provided with an ultrasonic sensor, and the cleaning assembly is fixed on the cleaning frame; the scraper component comprises a scraper and a scraper adjusting mechanism, the scraper adjusting mechanism comprises a scraper mounting seat, a scraper fixing seat and a constant force spring, the scraper mounting seat is connected with the scraper fixing seat through the constant force spring, and the scraper fixing seat is connected with the cleaning frame;

the water supply mechanism, the control cabinet and the generator set are fixed on the trailer mechanism, the water supply mechanism comprises a water pump, a water pipe and a water tank, the water pump is connected with the water pipe and the water tank, and the water pipe is connected with the cleaning assembly; the generator set is electrically connected with the control cabinet, and the control cabinet is electrically connected with the cleaning assembly, the water pump, the mechanical arm and the ultrasonic sensor; one end of the mechanical arm is fixed on the frame, and the other end of the mechanical arm is fixedly connected with the cleaning frame.

Through heliostat washs the car, can realize the omnidirectional cleaning work to the heliostat to improve heliostat cleaning efficiency.

Optionally, the mechanical arm comprises a mechanical arm base, a rotary support assembly, a support arm, a telescopic arm and a cleaning mechanism connecting plate; the mechanical arm base is fixed on the frame and connected with the rotary support assembly, and the support arm is connected with the rotary support assembly.

The telescopic arm comprises a telescopic inner arm and a telescopic outer arm, a lifting electric cylinder is arranged between the supporting arm and the telescopic outer arm, and the lifting electric cylinder is fixedly connected with the supporting arm and the telescopic outer arm; the telescopic outer arm is connected with the supporting arm; a telescopic electric cylinder is arranged between the telescopic inner arm and the telescopic outer arm and is fixedly connected with the telescopic inner arm and the telescopic outer arm; one end of the telescopic inner arm is sleeved in the telescopic outer arm, and the other end of the telescopic inner arm is connected with the cleaning mechanism connecting plate; the surface of the telescopic inner arm is provided with a swinging electric cylinder, and the swinging electric cylinder is connected with the cleaning mechanism connecting plate. The posture of the mechanical arm is flexibly adjusted, and the cleaning work of the heliostat under the condition of various positions can be met.

Optionally, the surface of the telescopic outer arm is further provided with a guide mechanism; the guide mechanism comprises a sliding block and a sliding block mounting plate; the slider is fixed in on the slider mounting panel, be equipped with side mounting hole and mounting hole down on the slider mounting panel to be convenient for change the arm the slider.

Optionally, the cleaning assembly comprises a water spraying pipeline, a spray head and a cleaning cover, the water spraying pipeline is fixed on two sides of the cleaning frame, the spray head is connected with the water spraying pipeline, and the cleaning cover is fixed on the outer side of the cleaning frame so as to avoid the situation that water mist splashes in the cleaning process.

Optionally, the water spray pipeline includes an impact water spray pipeline and an atomization water spray pipeline, and the nozzle includes an impact nozzle and an atomization nozzle; the impact spray head is connected with the impact water spraying pipeline, and the atomization spray head is connected with the atomization water spraying pipeline so as to realize cleaning in multiple spraying modes.

Optionally, the wiper mechanism still includes the spray gun, the spray gun with the water pump the switch board is connected to the operating personnel carries out manual cleaning work.

Optionally, a rolling brush and a rolling brush motor are further arranged on the cleaning frame, a shaft of the rolling brush is connected with a hollow shaft of the rolling brush motor through a flat key, and the rolling brush motor is electrically connected with the control cabinet to brush the heliostat mirror surface.

Optionally, a rolling brush speed sensor is further arranged on the rolling brush, and the rolling brush speed sensor is electrically connected with the control cabinet to monitor the working state of the rolling brush.

Optionally, the surface of the cleaning frame is further provided with a limit switch, and the limit switch is electrically connected with the control cabinet to prevent the cleaning frame from colliding with the surface of the heliostat.

Optionally, a scraper telescopic rod is further arranged between the scraper fixing seat and the cleaning frame; one end of the scraper lifting and contracting rod is fixed on the cleaning frame, and the other end of the scraper lifting and contracting rod is fixed on the scraper fixing seat so as to lift or lower the scraper.

According to the above technical scheme, this application provides a heliostat washs car, heliostat washs car and includes automobile body, switch board, water supply mechanism, generating set, wiper mechanism and arm, wherein: the vehicle body comprises a tractor and a trailer mechanism, and the tractor is detachably connected with the trailer mechanism. The cleaning mechanism comprises a cleaning frame, a cleaning assembly and a scraper assembly, wherein the surface of the cleaning frame is provided with an ultrasonic sensor, and the cleaning assembly is fixed on the cleaning frame. The scraper blade subassembly includes scraper blade and scraper blade guiding mechanism, scraper blade guiding mechanism includes scraper blade mount pad, scraper blade fixing base and decides the power spring, the scraper blade mount pad passes through decide the power spring with the scraper blade fixing base is connected, the scraper blade fixing base with the wash rack is connected. The water supply mechanism the switch board with generating set is fixed in on the trailer mechanism, the water supply mechanism includes water pump, water pipe and water tank, the water pump with the water pipe the water tank is connected, the water pipe with wash the subassembly and connect. The generating set is electrically connected with the control cabinet, and the control cabinet is electrically connected with the cleaning assembly, the water pump, the mechanical arm and the ultrasonic sensor. One end of the mechanical arm is fixed on the tractor, and the other end of the mechanical arm is fixedly connected with the cleaning rack. The heliostat cleaning vehicle is transported and moved through the vehicle body, and the cleaning mechanism is controlled through the mechanical arm so as to carry out all-dimensional cleaning on the surface of the heliostat and improve the operating efficiency of heliostat cleaning work.

Drawings

In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of a trailer mechanism provided in some embodiments of the present application;

FIG. 2 is a schematic illustration of a robotic arm according to some embodiments of the present application;

FIG. 3 is a schematic structural view of a guide mechanism provided in some embodiments of the present application;

FIG. 4 is a schematic structural view of a squeegee assembly provided in accordance with some embodiments of the present application;

FIG. 5 is a schematic structural view of a cleaning assembly according to some embodiments of the present disclosure;

FIG. 6 is a schematic view of a wash rack with a wash hood according to some embodiments of the present disclosure;

FIG. 7 is a schematic view of a wash rack with limit switches according to some embodiments of the present disclosure;

FIG. 8 is a schematic illustration of a heliostat cleaning cart according to some embodiments of the application;

fig. 9 is a cross-sectional view of a tractor provided by some embodiments of the present application.

Illustration of the drawings:

the cleaning device comprises a control cabinet 100, a water supply mechanism 200, a water pump 201, a water pipe 202, a water tank 203, a water tank 300, a generator set 400, a cleaning mechanism 401, a cleaning frame 4011, an ultrasonic sensor 4012, a rolling brush 4013, a rolling brush motor 4014, a limit switch 4015, a scraper telescopic rod 4015, a cleaning assembly 402, a 4021 impact water spray pipeline 4022, an atomized water spray pipeline 4023, an impact spray head 4024, an atomized spray head 403, a scraper assembly 404, a cleaning cover 404, a scraper 4031, a scraper mounting seat 4032, a scraper fixing seat 3, a constant force spring 4034, a scraper adjusting mechanism 4035, a mechanical arm 500, a mechanical arm 501-base 502, a rotary support assembly 503-support arm, a 5041-telescopic inner arm, a 5042-telescopic outer arm, a 5043-slider, a 5044-slider mounting plate, a 5045-side mounting hole, a 5046-lower mounting hole, a cleaning mechanism connecting plate 505-lifting electric cylinder 506-lifting electric cylinder, a 403cylinder 508-swinging electric cylinder 403cylinder 602, a wheel speed sensor 601-602, a wheel speed disc 601-602 and a wheel speed disc 602.

Detailed Description

Reference will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following examples do not represent all embodiments consistent with the present application. But merely as exemplifications of systems and methods consistent with certain aspects of the application, as recited in the claims.

Heliostats (heliostats) refer to optical devices that reflect the rays of the sun or other celestial bodies into a fixed direction, also known as starmirrors. Heliostats are commonly used in photo-thermal power stations to concentrate sunlight onto heat absorbers, thereby enabling solar power generation. Heliostats are mostly installed in areas with sufficient sunlight, such as the gobi and the desert. Dust is easily accumulated on the surface of the heliostat because the gobi and desert areas are in the weather of wind dust and sand all the year round. When dust is accumulated on the surface of the heliostat, the specular reflectivity of the heliostat is reduced, so that the photothermal conversion efficiency is influenced, and energy waste is caused.

In order to improve the photothermal conversion efficiency, the heliostat needs to be cleaned periodically. In the heliostat cleaning process, a large number of operating personnel are required to be configured in a manual cleaning mode, and the water consumption is high; the mode of adopting the on-chip robot is limited by an application scene, and when the heliostat surface is a discontinuous mirror surface, the on-chip robot cannot normally complete the cleaning work of the mirror surface, so that the cleaning efficiency is influenced.

In order to solve the above problem, with reference to fig. 8, the present application provides a heliostat washing cart comprising: automobile body, switch board 100, water supply mechanism 200, generating set 300, wiper mechanism 400 and arm 500, wherein:

the vehicle body includes a tractor 600 and a trailer mechanism 700, and as shown in fig. 8, the tractor 600 is detachably connected to the trailer mechanism 700. The trailer mechanism 700 may be a trailer, and after the trailer mechanism 700 is connected to the tractor 600, the trailer mechanism 700 is moved by the tractor 600. Wherein the trailer mechanism 700 is provided with tires. In order to adapt to sand and stone and sandy soil ground, the tire can adopt a tire with a large landing area and a large herringbone pattern on the tire surface so as to avoid vehicle sinking.

In some embodiments, the trailer mechanism 700 further includes a shock absorbing system to mitigate sloshing during movement of the trailer mechanism 700. For example, a shock absorber or the like is provided in the trailer mechanism 700.

In some embodiments, the tractor 600 may be a tractor-type vehicle. The tractor 600 is equipped with a diesel engine and a high-pressure common rail technology. The tractor type has the advantages of abundant power, strong terrain adaptability, simple and flexible operation and the like, and is suitable for gobi, desert and other areas.

Referring to fig. 9, the tractor 600 includes wheels 603 and a frame 604, and the frame 604 is detachably connected to the trailer mechanism 700. A wheel speed detection device is arranged on a wheel 603 of the tractor 600, and comprises a wheel speed sensor 601 and a signal disc 602; the signal panel 602 is fixed on the axle of the wheel, the signal panel 602 is connected with the wheel speed sensor 601, the wheel speed sensor 601 is fixed on the frame 604, and the wheel speed sensor 601 is electrically connected with the control cabinet 100. When the wheel 603 rotates, the wheel speed sensor 601 judges the speed of the wheel 603 from the detected signal.

The water supply mechanism 200, the control cabinet 100 and the generator set 300 are fixed on the trailer mechanism 700, so that the water supply mechanism 200, the control cabinet 100 and the generator set 300 can move synchronously along with the tractor 600 and the trailer mechanism 700, that is, the trailer mechanism 700 provides support and transportation functions for the water supply mechanism 200, the control cabinet 100 and the generator set 300. The control cabinet 100 provides a control function for the heliostat cleaning vehicle, the water supply mechanism 200 provides a water supply function, and the generator set 300 provides a power supply function.

After the tractor 600 is connected to the trailer mechanism 700, it is also fixedly connected to the robot arm 500. One end of the robotic arm 500 is fixed to the tractor 600, and the other end of the robotic arm 500 is fixedly connected to the cleaning mechanism 400. That is, the body structure formed by the tractor 600 and the trailer mechanism 700 is connected to the washing mechanism 400 through the mechanical arm 500, so as to form a complete heliostat washing vehicle structure.

The washing mechanism 400 includes a wash rack 401, a wash assembly 402, and a squeegee assembly 403. The cleaning frame 401 is used to carry the cleaning assembly 402 and the squeegee assembly 403 over the heliostat mirror surface to complete the cleaning of the heliostat. The robot arm 500 is fixedly connected to the washing frame 401 of the washing mechanism 400.

Referring to fig. 6, the surface of the cleaning frame 401 is provided with an ultrasonic sensor 4011. The ultrasonic sensor 4011 may be a square type, a cylindrical type, a double sheet type, or the like ultrasonic sensor 4011. The working principle of the ultrasonic sensor 4011 is as follows: the ultrasonic transmitter transmits an ultrasonic signal to a certain direction outside, timing is started when the ultrasonic signal is transmitted, the ultrasonic wave is transmitted through air, the ultrasonic wave is reflected and transmitted back immediately when encountering an obstacle in the transmission process, and the ultrasonic receiver stops timing immediately when receiving a reflected wave. Then, the distance from the transmitting point to the obstacle can be measured according to the propagation speed of the ultrasonic wave in the air and the timing time. As shown in fig. 6, at least one ultrasonic sensor 4011 is disposed at each end of the cleaning frame 401 to detect edges of the heliostat mirror surface, so as to adjust the cleaning position.

The cleaning assembly 402 is fixed on the cleaning frame 401, and the cleaning assembly 402 is used for spraying water and cleaning a mirror surface. Referring to fig. 4, the squeegee assembly 403 includes a squeegee 4031 and a squeegee adjustment mechanism 4035. The blade adjustment mechanism 4035 includes a blade mount 4032, a blade mount 4033, and a constant force spring 4034. The blade 4031 is used to remove water stains remaining on the mirror surface after the water washing operation. As shown in fig. 4, the blade mount 4032 is connected to a blade holder 4033 via a constant force spring 4034, and the blade holder 4033 is connected to the cleaning frame 401. During the cleaning process, the pressure of the scraper 4031 on the mirror surface can be adjusted through the fixed-force spring 4034, and the mirror surface is kept in contact with the preset pressure range. The pressure range is set according to the actual situation, and the set pressure value range cannot be too large so as to prevent the mirror surface from being damaged.

For example: when the cleaning assembly 402 is changed in position relative to the mirror surface, the scraper 4031 may be tilted at a certain angle, and then the scraper mounting 4032 is driven to rotate around its own fixed shaft, and the fixed-force spring 4034 is pulled to make the scraper 4031 generate a pressure within a safe range on the mirror surface. When the scraper 4031 floats relative to the mirror surface, the constant force spring 4034 can adjust the position of the scraper 4031 accordingly, so that the pressure of the scraper 4031 on the mirror surface is always kept within a certain safety range.

In some embodiments, the number of the scrapers 4031 can be two, and the scrapers are respectively arranged at two ends of the travel direction of the cleaning rack 401. When the cleaning frame 401 is performing the cleaning operation, the blade 4031 in the traveling direction is lifted up, and the blade 4031 in the other direction is lowered down, so that the blade 4031 can remove water stains remaining on the mirror surface cleaning unit 402. Wherein, the tail end of the contact part of the scraper 4031 and the mirror surface can adopt a silica gel scraper to avoid leaving scratches on the mirror surface and influencing the refractive index of the mirror surface.

In some embodiments, referring to fig. 7, a blade extension bar 4015 is also provided between the blade holder 4033 and the wash rack 401. One end of the scraper telescopic rod 4015 is fixed on the cleaning frame 401, and the other end of the scraper telescopic rod 4015 is fixed on the scraper fixing base 4033. The blade retracting rods 4015 may be electric retracting rods to raise or lower the blade 4031. The blade retraction lever 4015 can control raising and lowering of the blade 4031, and in operation, the control cabinet 100 is configured to raise the blade 4031 at the front end in the traveling direction and lower the blade 4031 at the rear end to perform wiping operation.

In some embodiments, referring to fig. 7, the washing rack 401 is further provided with a rolling brush 4012 and a rolling brush motor 4013. The shaft of the rolling brush 4012 is connected with the hollow shaft of the rolling brush motor 4013 through a flat key, and the rolling brush motor 4013 is electrically connected with the control cabinet 100, so that the rolling brush motor can provide electric energy for the rolling brush 4012 and can control the starting and stopping of the rolling brush 4012 through the control cabinet 100. As shown in fig. 7, the roll brush 4012 may span and be fixed at a central position of the wash rack 401. After the ultrasonic sensor 4011 detects the edge of the heliostat mirror surface, the operator adjusts the position of the cleaning frame 401 through the control cabinet 100 so that the entire rolling brush 4012 can cover the mirror surface.

For example: the rolling brush 4012 is a cylindrical structure, the length of the rolling brush is x meters, the width of the mirror surface is x meters, and the length of the mirror surface is y meters. Then, when the cleaning frame 401 is controlled to perform the cleaning operation, the edge position of the mirror surface is detected by the ultrasonic sensor 4011, and then the position of the cleaning frame 401 is adjusted so that both ends of the roll brush 4012 are aligned with the edge position in the mirror surface width direction. After the two ends of the rolling brush 4012 are aligned with the edge position of the mirror surface in the width direction, the rolling brush cleaning work of one round of the mirror surface can be completed by moving y meters along the length direction of the mirror surface.

In some embodiments, a rolling brush rotation speed sensor is further disposed on the rolling brush 4012, and the rolling brush rotation speed sensor is electrically connected to the control cabinet 100, so that the working state of the rolling brush 4012 can be monitored. When the roller brush 4012 has a failure such as seizure, the rotational speed of the roller brush is reduced or becomes zero. At this time, the rolling brush rotation speed sensor can feed back the abnormal rotation speed condition of the rolling brush 4012 to the control cabinet 100 in time. The control cabinet 100 can give an alarm in the modes of display screen display, voice alarm or light alarm and the like to prompt a worker to overhaul.

Based on the above embodiment, when the ultrasonic sensor 4011 near the end of the heliostat mirror surface detects the mirror surface, the rolling brush 4011 has not entered the area above the heliostat mirror surface because the rolling brush 4012 is at a distance from the ultrasonic sensor 4011. At this time, if the water spray is started by the cleaning assembly 402, the water resource is wasted. In the embodiment of the present application, the control cabinet 100 may be configured to combine the wheel speed detected by the wheel speed sensor 601 with the current time, calculate the current travel distance, and determine whether the rolling brush 4012 enters the area above the heliostat mirror surface. When the travel distance is equal to the distance between the roll brush 4012 and the ultrasonic sensor 4011, the control cabinet 100 controls the cleaning assembly 402 to start spraying water.

Similarly, when the rolling brush 4012 finishes the cleaning operation and prepares to leave the heliostat mirror surface, it is also possible to determine when to close the cleaning assembly 402 according to the current travel distance, so as to avoid water resource waste and achieve water saving.

Further, in some embodiments, the control cabinet 100 is further configured to estimate a target time when the roll brush 4012 approaches the mirror surface and leaves the mirror surface based on the wheel speed information detected by the wheel speed sensor 601. After the target time, the movement of the rolling brush 4012 is stopped, so that the rolling brush 4012 can be ensured to be close to the mirror surface when entering the mirror surface area, the cleaning work can be normally carried out, and the risk that the rolling brush 4012 approaches the mirror surface in advance to damage the mirror surface is reduced; and, when the rolling brush 4012 leaves the mirror surface area, it will not leave in advance, avoiding the existence of the unwashed mirror surface area.

In some embodiments, the surface of the washing rack 401 is further provided with a limit switch 4014, and the limit switch 4014 is electrically connected with the control cabinet 100. The limit switch 4014 is a commonly used small current master control electrical appliance, and the principle thereof is that the contact of the limit switch is operated to connect or disconnect a control circuit by utilizing the collision of mechanical moving parts, so that a certain control purpose is achieved. Set up limit switch 4014 in the bottom that wash rack 401 is close to the mirror surface, if wash rack 401 touches the heliostat mirror surface, limit switch 4014 will be triggered, and wash rack 401 is then automatic to the reverse direction removal and with collision information transmission to switch board 100, avoid wash rack 401 to touch the mirror surface once more, have anticollision guard action.

For example: as shown in fig. 7, 3 limit switches 4014 are disposed on the bottom end of the cleaning frame 401 near the mirror surface, and when any limit switch 4014 is triggered, the cleaning frame 401 keeps the existing angle and automatically moves in the direction opposite to the triggered limit switch 4014, thereby protecting the mirror surface of the heliostat.

In some embodiments, the cleaning assembly 402 includes a water spray line, a spray head, and a cleaning hood 404. Wherein, the water spray pipeline is fixed in the wash rack 401 both sides, and the shower nozzle is connected with the water spray pipeline, washs the cover 404 and is fixed in the wash rack 401 outside. The spray head and the water spraying pipeline are used for spraying water to the surface of the heliostat; the cleaning cover 404 is used for isolating the space formed by the spray head, the water spraying pipeline and the heliostat mirror surface into a closed space so as to prevent water mist from leaking out and interfering with the work of other equipment.

The water spraying pipeline may include an impact water spraying pipeline 4021 and an atomization water spraying pipeline 4022, and the nozzle includes an impact nozzle 4023 and an atomization nozzle 4024. The impact spray nozzle 4023 is connected with the impact water spray pipeline 4021, and the atomization spray nozzle 4024 is connected with the atomization water spray pipeline 4022, so that the spraying work in multiple modes is realized.

For example: in the high-pressure spray rinsing mode, the roller brush 4012 does not rotate, and the impact spray nozzle 4023 and the impact water spray pipeline 4021 perform impact water spray work to spray high-pressure water columns to the mirror surface for cleaning.

Another example is: as shown in fig. 7, two ends of the cleaning rack 401 are both provided with an atomizing nozzle 4024 and an atomizing water spraying pipeline 4022. In the normal spray brushing mode, first, the atomizing nozzle 4024 at the front end in the traveling direction sprays water to wet the mirror surface. Then, the roll brush 4012 at the center of the wash rack 401 performs the rotary brushing. Finally, the atomizer 4024 at the rear end in the traveling direction performs secondary washing to wash away dirt remaining on the mirror surface.

In some embodiments, the impingement tip 4023 may employ a fan-shaped high pressure nozzle and the atomization tip 4024 may employ a fan-shaped nozzle. The fan-shaped nozzle has the advantages of large pressure adaptation range, difficult blockage and uniform water distribution.

For example: as shown in FIG. 5, when 25 fan-shaped high-pressure nozzles were arranged in a single row, and the nozzle pressure was 8MPa and the target distance was 200mm, a mirror cleaning range of 5m in length was covered. After the mirror surface is washed by the fan-shaped high-pressure nozzle, water and dirt remaining on the mirror surface are scraped off by the scraper 4031 at the rear end in the traveling direction.

The water spraying pipe 4021 and the atomized water spraying pipe 4022 are mainly supplied with water by the water supply mechanism 200. Referring to fig. 1, the water supply mechanism 200 includes a water pump 201, a water pipe 202, and a water tank 203. Wherein, water pump 201 is connected with water pipe 202, water tank 203 respectively, and water pipe 202 is connected with washing subassembly 402. The water pump 201 may pump water from the water tank 203 and deliver the water to the wash assembly 402 through the water line 202. Since the cleaning work is large, a large-capacity water tank 203 should be used. Generally, the water tank 203 should supply water in an amount of not less than 3.5 t. As shown in fig. 1, before the direction of the trailer mechanism 700 connected to the tractor 600 is taken as a front direction, the control cabinet 100 and the generator set 300 may be disposed in a region in front of the water tank 203 on the trailer mechanism 700, so that an operator can control and operate the heliostat cleaning vehicle to perform cleaning work.

Since the heliostat cleaning operation needs to be performed for a long period of time, the water in the water tank 203 needs to be heated or kept warm in severe cold weather. Therefore, in some embodiments, the power supply of the generator set 300 is not less than 60kW, so as to meet the water and heat supply requirements of the heliostat washing vehicle in cold weather.

In some embodiments, the water pump 201 is a dual water pump design, such as: a combination of a 40kW high-power water pump and a 10kW low-power water pump is adopted. The design of the double water pumps can meet the cleaning work of multiple modes, such as spraying, manual cleaning and other cleaning modes.

To facilitate the manual cleaning operation, in some embodiments, the cleaning mechanism 400 further includes a spray gun, and the spray gun is connected to the water pump 201 and the control cabinet 100. The spray gun should select the high-pressure spray gun for use to make the operation personnel can hold the high-pressure spray gun and wash the mirror surface.

Referring to FIG. 2, in some embodiments, the robotic arm 500 includes a robotic arm base 501, a swing support assembly 502, a support arm 503, a telescoping arm, and a purge mechanism interface plate 505. Wherein the robot arm base 501 is fixed to the tractor 600. As shown in FIG. 2, the robot base 501 is coupled to a swing support assembly 502 and the support arm 503 is coupled to the swing support assembly 502. The rotation support assembly 502 is a component responsible for rotating the support arm 503, and is provided with a rolling body and a collar with a raceway therein, so that the rotation operation can be realized according to the matching of the rolling body and the collar. Control cabinet 100 may control swivel support assembly 502 to rotate such that support arm 503 follows swivel support assembly 502 to rotate.

The telescopic arm comprises a telescopic inner arm 5041 and a telescopic outer arm 5042, a lifting electric cylinder 506 is arranged between the support arm 503 and the telescopic outer arm 5042, and the lifting electric cylinder 506 is fixedly connected with the support arm 503 and the telescopic outer arm 5042. The telescopic outer arm 5042 is further connected to the support arm 503, i.e. the telescopic outer arm 5042 and the support arm 503 may be connected by a hinge point. During operation, the telescopic outer boom 5042 may be raised or lowered in a vertical plane relative to the position of the support arm 503 by power provided by the lifting electric cylinder 506.

Further, an electric telescopic cylinder 507 is provided between the outer telescopic arm 5042 and the inner telescopic arm 5041, and the electric telescopic cylinder 507 is fixedly connected to the inner telescopic arm 5041 and the outer telescopic arm 5042. One end of the telescopic inner arm 5041 is sleeved in the telescopic outer arm 5042, and the other end of the telescopic inner arm 5041 is connected with the cleaning mechanism connecting plate 505. Obviously, the telescopic inner arm 5041 may be extended or contracted within the telescopic outer arm 5042 by the power supplied from the telescopic electric cylinder 507.

In some embodiments, as shown in fig. 2, a rotary support is disposed at the bottom end of the telescopic outer wall 5042, so that the whole telescopic arm can drive the cleaning mechanism 400 to rotate 180 ° integrally, thereby cleaning the heliostat mirror on the other side of the vehicle body, and realizing the cleaning of the mirror surfaces on both sides.

However, when the telescopic inner arm 5041 extends and contracts back and forth, it is necessary to guide the extension and contraction path by the guide slider. However, the mechanical arm 500 needs to be repeatedly extended and retracted continuously during the operation, so that the abrasion of the guide sliding block is serious, and the later-stage work is not facilitated. Thus, in some embodiments, the surface of the telescoping outer arm 5042 is also provided with a guide mechanism. Referring to fig. 3, the guide mechanism includes a slider 5043 and a slider mounting plate 5044, the slider 5043 being fixed to the slider mounting plate 5044; the slider mounting plate 5044 is provided with a side mounting hole 5045 and a lower mounting hole 5046, and the slider 5043 and the slider mounting plate 5044 are fixed between the telescopic outer arm 5042 and the telescopic electric cylinder 507 by providing screws in the side mounting hole 5045 and the lower mounting hole 5046. Thus, when the slider 5043 becomes excessively worn, the mounting screw can be unscrewed, the slider mounting plate 5044 removed, and the slider 5043 replaced. The design of the side mounting hole 5045 and the lower mounting hole 5046 which are two different position mounting holes can reinforce the fixing condition of the whole guide mechanism to prevent the guide mechanism from falling off.

In some embodiments, the surface of the inner telescopic arm 5041 is further provided with an oscillating electric cylinder 508, and the oscillating electric cylinder 508 is connected with the cleaning mechanism connecting plate 505. The cleaning mechanism connecting plate 505 is used for connecting the cleaning frame 401, and the swing electric cylinder 508 can provide a horizontal swing power for the telescopic inner arm 5041, so as to adjust the position of the cleaning frame 401 connected with the same.

According to the above technical scheme, this application provides a heliostat washs car, includes: the vehicle body, the control cabinet 100, the water supply mechanism 200, the generator set 300, the cleaning mechanism 400 and the mechanical arm 500. The vehicle body comprises a tractor 600 and a trailer mechanism 700, and the tractor 600 is detachably connected with the trailer mechanism 700. The cleaning mechanism 400 comprises a cleaning rack 401, a cleaning component 402 and a scraper component 403, wherein an ultrasonic sensor 4011 is arranged on the surface of the cleaning rack 401, and the cleaning component 402 is fixed on the cleaning rack 401. The scraper component 403 comprises a scraper 4031 and a scraper adjusting mechanism 4035, the scraper adjusting mechanism 4035 comprises a scraper mounting base 4032, a scraper fixing base 4033 and a fixed-force spring 4034, the scraper mounting base 4032 is connected with the scraper fixing base 4033 through the fixed-force spring 4034, and the scraper fixing base 4033 is connected with the cleaning frame 401. The water supply mechanism 200, the control cabinet 100 and the generator set 300 are fixed on the trailer mechanism 700, and the water supply mechanism 200 comprises a water pump 201, a water pipe 202 and a water tank 203. The water pump 201 is connected with the water pipe 202 and the water tank 203, and the water pipe 202 is connected with the cleaning assembly 402. The generator set 300 is electrically connected with the control cabinet 100, and the control cabinet 100 is electrically connected with the cleaning component 402, the water pump 201, the mechanical arm 500 and the ultrasonic sensor 4011. One end of the mechanical arm 500 is fixed on the tractor 600, and the other end of the mechanical arm 500 is fixedly connected with the cleaning rack 401. The heliostat cleaning vehicle is transported and moved through the vehicle body, and the cleaning mechanism 400 is controlled by the mechanical arm 500 to carry out all-dimensional cleaning on the surface of the heliostat so as to improve the operation efficiency of heliostat cleaning.

The heliostat cleaning vehicle has the advantages that the whole vehicle device is compact and small in structure and easy to maintain; the mechanical arm 500 has 4 degrees of freedom, the posture of the mechanical arm 500 is flexibly adjusted, the postures are rich, and various cleaning schemes can be met; the sliding block can be replaced through the sliding block mounting plate 5044, so that the operation quality of the telescopic boom is improved; the inclination angle of the scraper 4031 is adjusted by the scraper component 403, so that the pressure of the scraper 4031 on the mirror surface can be kept within a certain range, and the safety in the operation process is improved.

The embodiments provided in the present application are only a few examples of the general concept of the present application, and do not limit the scope of the present application. Any other embodiments extended according to the scheme of the present application without inventive efforts will be within the scope of protection of the present application for a person skilled in the art.

Claims

1. A heliostat cleaning vehicle, comprising: automobile body, switch board (100), water supply mechanism (200), generating set (300), wiper mechanism (400) and arm (500), wherein:

the vehicle body comprises a tractor (600) and a trailer mechanism (700); the tractor (600) comprises wheels (603) and a frame (604); a wheel speed detection device is arranged on the wheel (603), and the wheel speed detection device comprises a wheel speed sensor (601) and a signal panel (602); the signal disc (602) is fixed on the axle of the wheel (603), the signal disc (602) is connected with the wheel speed sensor (601), and the wheel speed sensor (601) is fixed on the frame (604); the wheel speed sensor (601) is electrically connected with the control cabinet (100); the frame (604) is detachably connected with the trailer mechanism (700);

the cleaning mechanism (400) comprises a cleaning frame (401), a cleaning assembly (402) and a scraper assembly (403), wherein an ultrasonic sensor (4011) is arranged on the surface of the cleaning frame (401), and the cleaning assembly (402) is fixed on the cleaning frame (401); the scraper component (403) comprises a scraper (4031) and a scraper adjusting mechanism (4035), the scraper adjusting mechanism (4035) comprises a scraper mounting seat (4032), a scraper fixing seat (4033) and a fixed-force spring (4034), the scraper mounting seat (4032) is connected with the scraper fixing seat (4033) through the fixed-force spring (4034), and the scraper fixing seat (4033) is connected with the cleaning frame (401);

the water supply mechanism (200), the control cabinet (100) and the generator set (300) are fixed on the trailer mechanism (700), the water supply mechanism (200) comprises a water pump (201), a water pipe (202) and a water tank (203), the water pump (201) is connected with the water pipe (202) and the water tank (203), and the water pipe (202) is connected with the cleaning assembly (402);

the generator set (300) is electrically connected with the control cabinet (100), and the control cabinet (100) is electrically connected with a cleaning assembly (402), the water pump (201), the mechanical arm (500) and the ultrasonic sensor (4011);

one end of the mechanical arm (500) is fixed on the frame (604), and the other end of the mechanical arm (500) is fixedly connected with the cleaning frame (401).

2. The heliostat washing cart of claim 1, wherein the robotic arm (500) comprises a robotic arm base (501), a swiveling support assembly (502), a support arm (503), a telescopic arm and washing mechanism connection plate (505);

the mechanical arm base (501) is fixed on the frame (604), the mechanical arm base (501) is connected with the rotary support assembly (502), and the support arm (503) is connected with the rotary support assembly (502);

the telescopic arm comprises a telescopic inner arm (5041) and a telescopic outer arm (5042), a lifting electric cylinder (506) is arranged between the supporting arm (503) and the telescopic outer arm (5042), and the lifting electric cylinder (506) is fixedly connected with the supporting arm (503) and the telescopic outer arm (5042);

the telescopic outer arm (5042) is connected with the support arm (503);

a telescopic electric cylinder (507) is arranged between the telescopic inner arm (5041) and the telescopic outer arm (5042), and the telescopic electric cylinder (507) is fixedly connected with the telescopic inner arm (5041) and the telescopic outer arm (5042); one end of the telescopic inner arm (5041) is sleeved in the telescopic outer arm (5042), and the other end of the telescopic inner arm (5041) is connected with the cleaning mechanism connecting plate (505);

the surface of the telescopic inner arm (5041) is provided with a swing electric cylinder (508), and the swing electric cylinder (508) is connected with the cleaning mechanism connecting plate (505).

3. A heliostat cleaning cart of claim 2, wherein the telescopic outer arm (5042) surface is further provided with a guide mechanism; the guide mechanism comprises a slide block (5043) and a slide block mounting plate (5044); the slider (5043) is fixed on the slider mounting plate (5044), and the slider mounting plate (5044) is provided with a side mounting hole (5045) and a lower mounting hole (5046).

4. The heliostat washing vehicle of claim 1, wherein the washing assembly (402) comprises water spraying pipelines, nozzles and a washing cover (404), the water spraying pipelines are fixed on two sides of the washing frame (401), the nozzles are connected with the water spraying pipelines, and the washing cover (404) is fixed on the outer side of the washing frame (401).

5. The heliostat washing vehicle of claim 4, wherein the water spray lines comprise impingement water spray lines (4021) and atomization water spray lines (4022), and the spray heads comprise impingement spray heads (4023) and atomization spray heads (4024); the impact spray head (4023) is connected with the impact water spray pipeline (4021), and the atomization spray head (4024) is connected with the atomization water spray pipeline (4022).

6. The heliostat washing vehicle of claim 1, wherein the washing mechanism (400) further comprises a spray gun connected to the water pump (201) and the control cabinet (100).

7. The heliostat cleaning vehicle according to claim 1, wherein a rolling brush (4012) and a rolling brush motor (4013) are further arranged on the cleaning frame (401), a shaft of the rolling brush (4012) is connected with a hollow shaft of the rolling brush motor (4013) through a flat key, and the rolling brush motor (4013) is electrically connected with the control cabinet (100).

8. The heliostat cleaning vehicle of claim 7, wherein a roller brush rotation speed sensor is further arranged on the roller brush (4012), and the roller brush rotation speed sensor is electrically connected with the control cabinet (100).

9. The heliostat washing vehicle of claim 1, wherein the surface of the washing frame (401) is further provided with a limit switch (4014), and the limit switch (4014) is electrically connected with the control cabinet (100).

10. The heliostat cleaning vehicle of claim 1, wherein a scraper telescopic rod (4015) is further arranged between the scraper fixing seat (4033) and the cleaning frame (401); one end of the scraper lifting and contracting rod (4015) is fixed on the cleaning frame (401), and the other end of the scraper lifting and contracting rod (4015) is fixed on the scraper fixing seat (4033).