CN111112185B

CN111112185B - Position adjusting system for heliostat cleaning equipment

Info

Publication number: CN111112185B
Application number: CN201911370620.3A
Authority: CN
Inventors: 董同芳; 杨光明; 路璐
Original assignee: Csic Shuangwei Intelligent Equipment Co ltd
Current assignee: Csic Shuangwei Intelligent Equipment Co ltd
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2021-11-23
Anticipated expiration: 2039-12-26
Also published as: CN111112185A

Abstract

The invention relates to a position adjusting system for heliostat cleaning equipment, which comprises a hydraulic suspension arm which is arranged on a chassis of a cleaning vehicle and can be adjusted by multiple degrees of freedom, an adjusting device arranged on a first framework, a distance detecting device arranged on one side of the cleaning vehicle close to a heliostat mirror surface and a parallelism detecting device arranged on the first framework, wherein the first framework is connected with a framework mounting position on the hydraulic suspension arm through a connecting seat at the middle part of the upper side of the first framework, the first framework is provided with a mounting plate, the adjusting device is used for adjusting the position of the hairbrush arranged on the mounting plate relative to the surface of the heliostat, the hydraulic suspension arm and the adjusting device adjust the positions of the first framework and the hairbrush according to the signals fed back by the parallelism detecting device, and a driver adjusts the running direction of the cleaning vehicle according to the signals fed back by the distance detecting device. The cleaning angle is automatically adjusted, the cleaning machine is convenient and flexible, the cleaning machine can be cleaned completely without dead angles, the cleaning efficiency is high, and the service life is long.

Description

Position adjusting system for heliostat cleaning equipment

Technical Field

The invention relates to the technical field related to solar thermal power station maintenance, in particular to a position adjusting system for heliostat cleaning equipment.

Background

The photothermal power station is known as a super mirror power station, and compared with photovoltaic power generation, the solar photothermal power station has the characteristics of continuous and stable output, and is considered as a new energy application technology with the potential of becoming a base load power supply; in the operation and maintenance process of the solar photothermal power station, the heliostat needs to be cleaned regularly to ensure the reflectivity of the mirror surface to sunlight and further ensure the power generation efficiency of the power station.

However, most of the existing cleaning methods for heliostats are manual cleaning or motorized cleaning, the former method is high in labor intensity and low in production efficiency, the latter method is low in intelligent degree, and the cleaning effect is not obvious, so that the power generation efficiency of the whole photo-thermal power station is influenced. In order to solve the problems, the invention provides a position adjusting system for heliostat cleaning equipment, which is used for detecting the surface position of a heliostat by combining various sensors and adjusting through a hydraulic suspension arm and an adjusting device, so that the automatic adjustment of the cleaning angle is realized, the cleaning is convenient and flexible, the cleaning is thorough and free of dead angles, the cleaning efficiency is high, and the service life is long.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a position adjusting system for heliostat cleaning equipment, which is used for detecting the surface position of a heliostat by combining various sensors and adjusting through a hydraulic suspension arm and an adjusting device, so that the automatic adjustment of the cleaning angle is realized, the cleaning system is convenient and flexible, the cleaning is thorough and free of dead angles, the cleaning efficiency is high, and the service life is long.

A position adjusting system for heliostat cleaning equipment comprises a hydraulic suspension arm, an adjusting device, a distance detecting device and a parallelism detecting device, wherein the hydraulic suspension arm is arranged on a chassis of a cleaning vehicle and can be adjusted by multiple degrees of freedom, the adjusting device is arranged on a first framework, the distance detecting device is arranged on one side, close to a heliostat mirror surface, of the cleaning vehicle, the parallelism detecting device is arranged on the first framework, the first framework is connected with a framework mounting position on the hydraulic suspension arm through a first connecting seat in the middle of the upper side of the first framework, a mounting plate is arranged on the first framework, the adjusting device is used for adjusting the position of a hairbrush mounted on the mounting plate relative to the heliostat mirror surface, the hydraulic suspension arm and the adjusting device adjust the positions of the first framework and the hairbrush according to signals fed back by the parallelism detecting device, and a driver adjusts the running direction of the cleaning vehicle according to signals fed back by the distance detecting device;

the hydraulic lifting arm comprises a rotating base, a supporting seat is rotatably arranged on the rotating base, the upper end of the supporting seat is hinged with a lifting arm seat, and a first hydraulic cylinder is arranged between the supporting seat and the lifting arm seat; the suspension arm seat is provided with a telescopic first telescopic arm, two sides of the free end of the telescopic arm are provided with a second side clamping plate, the second side clamping plate is provided with a first connecting hole and a second connecting hole, the second side clamping plate is hinged with the left end of the suspension arm seat at the first connecting hole through a third hydraulic cylinder, the second side clamping plate is hinged with the middle part of the suspension arm seat at the second connecting hole, the suspension arm seat is provided with a second telescopic arm, and a second hydraulic cylinder is arranged between the suspension arm seat and the second telescopic arm;

the end part of the right end of the second telescopic arm is hinged with the left end of the rotating arm, the side surface of the right end of the second telescopic arm is hinged with the middle part of the fourth hydraulic cylinder, the side surface of the rotating arm is provided with a second hinged seat, and the free end of a cylinder rod of the fourth hydraulic cylinder is hinged with the second hinged seat; the right end of the rotating arm is coaxially provided with the framework mounting position, the framework mounting position can rotate on the axis of the framework mounting position, the framework mounting position is in a ring shape, the outer wall of the framework mounting position is provided with worm teeth, the rotating arm is further fixedly provided with a worm matched with the worm teeth, and the worm is connected with a servo motor.

As a further improvement of the invention, two ends of the mounting plate are respectively provided with a first mounting seat and a second mounting seat, the adjusting device comprises a bracket hinged with the first mounting seat and a hydraulic oil cylinder hinged with the second mounting seat, the free end of the bracket is hinged with the first hinged seat, an adjustable supporting rod is further arranged between the first mounting seat and the first hinged seat, two ends of the supporting rod are respectively hinged with the first mounting seat and the first hinged seat through shaft pins, the length of the bracket and the length of the supporting rod are equal and parallel to each other, a support is fixedly arranged on the bracket, a abdicating hole passed by the supporting rod is arranged on the support, and the support is hinged with the free end of an oil cylinder rod of the hydraulic oil cylinder; the first hinged seat is fixedly provided with a third mounting seat, the hairbrush is arranged on the third mounting seat, and the third mounting seat is further provided with a hydraulic motor for driving the hairbrush to rotate.

As a further improvement of the present invention, the parallelism detecting device is disposed on the first framework, and includes a plurality of distance measuring sensors uniformly disposed along a length direction of the first framework and a distance measuring sensor individually disposed along a cleaning direction, and is configured to detect parallelism and distance between the first framework, the entire brush plane disposed thereon, and the spraying device and the heliostat surface, and automatically adjust the parallelism and distance by a control system.

As a further improvement of the invention, two photoelectric sensors are respectively arranged on the first framework at positions above and below the heliostat mirror surface and beyond the heliostat mirror surface, and are used for ensuring that the heliostat is positioned between the two photoelectric sensors, so as to judge whether the height of the cleaning device is proper or not.

As a further improvement of the invention, two photoelectric sensors are arranged on the framework I and on the left side and the right side above the hairbrush, and when the edges of the heliostat mirror surface are detected, the hairbrush is driven by the hydraulic oil cylinder to leave the heliostat mirror surface.

As a further improvement of the invention, a bottom plate is fixedly arranged on the rotating base, a pinion and an annular bull gear which are meshed with each other are arranged on the bottom plate, the pinion is connected with an output shaft of a servo motor, and the bottom of the supporting seat is fastened on the upper surface of the bull gear through a bolt; the bottom plate middle part has set firmly the stand, the stand side evenly is equipped with a plurality of annular protrudingly along the axial, the stand overcoat is equipped with the sleeve pipe, the intraductal annular groove that is equipped with annular protrudingly assorted, the sleeve pipe with the inner wall of supporting seat links firmly together.

As a further improvement of the invention, two side clamping plates I are arranged on two sides of the left end of the lifting arm seat, one end of the hydraulic cylinder is hinged with the side clamping plates I, and the other end of the hydraulic cylinder is hinged with the bottom of the supporting seat.

As a further improvement of the invention, linear displacement sensors are arranged in the hydraulic oil cylinder, the hydraulic cylinder I, the hydraulic cylinder II, the hydraulic cylinder III and the hydraulic cylinder IV, so that the position of a rod of the hydraulic cylinder is detected in real time and is accurately controlled.

As a further improvement of the invention, the automobile washing machine further comprises an illumination camera system, and the cleaning working condition and the vehicle running condition can be displayed on a control screen in the cab by arranging an illumination and night vision camera system.

As a further improvement of the invention, the system also comprises an intelligent electric control system which collects input signals of all sensors, hydraulic cylinders, servo motors and hydraulic motors in the position adjusting system, controls the actions of all functional parts and realizes the accurate adjustment and control of the position of the heliostat cleaning equipment.

Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:

according to the position adjusting system for heliostat cleaning equipment, the hydraulic suspension arm can be adjusted in multiple degrees of freedom, and multiple degrees of freedom can be adjusted on the framework I and the brush cleaning device and the spraying device on the framework I.

The bracket drives the hairbrush to move under the action of the hydraulic oil cylinder, the distance between the hairbrush and the heliostat mirror surface is adjusted, the length of the bracket is equal to that of the support rod, the support rod is parallel to the support rod, the first mounting seat and the hinge seat form a parallelogram hinged with each other, the parallelogram is designed to be capable of ensuring that the plane where the hairbrush is located is parallel to the heliostat mirror surface all the time. In addition, adjacent crisscross setting and the outermost edge of brush contact about the brush, can effectively increase the clean degree of adjacent brush intermediate position.

The parallelism and the distance between the framework I, the brush cleaning device and the spraying device on the framework I and the heliostat mirror surface can be detected through the parallelism detection device, and the hydraulic suspension arm and the adjusting device can adjust the positions of the framework I, the brush cleaning device and the spraying device on the framework I according to signals fed back by the parallelism detection device.

The distance detection device is used for detecting the relative position between the vehicle body and the heliostat mirror surface and displaying an image interface to a driver on a control screen in the cleaning vehicle, wherein the image interface is similar to an indication image of an automobile reversing radar so as to prompt the driver to adjust the vehicle to run in a set interval. On the contrary, when the vehicle is about to exceed the set range, the system gives an alarm and prompts the operator to correct the driving direction. At the moment, if the operator does not adjust in time, the system detects that the distance further deviates from the set distance, the vehicle walking driving system can automatically reduce the speed or stop the vehicle from advancing, and sound and light alarm prompt is carried out.

Through the position that the upper and lower side of heliostat mirror surface surpassed the mirror surface sets up two photoelectric sensor respectively the brush both sides set up two photoelectric sensor, when detecting during heliostat mirror surface edge, the brush is in leave under the hydraulic cylinder drive the heliostat mirror surface prevents rotatory brush with the contact takes place for heliostat mirror surface edge, causes the wearing and tearing of brush, has effectively prolonged the life of brush.

In addition, the position adjusting system also comprises an illumination camera system, and the cleaning working condition and the vehicle running condition can be displayed on a control screen in the cab by arranging an illumination and night vision camera system.

The heliostat cleaning device is characterized by further comprising an intelligent electrical control system, wherein input signals of all sensors, hydraulic cylinders, servo motors and hydraulic motors in the position adjusting system are collected, and all functional components are controlled to act, so that accurate adjustment and control of the position of the heliostat cleaning device are realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a hydraulic boom of the present invention.

Fig. 2 is a partially enlarged schematic view of fig. 1 at D.

Fig. 3 is a schematic view of the internal structure of fig. 2.

Fig. 4 is another schematic structural diagram of the hydraulic boom of the present invention.

Fig. 5 is a partially enlarged schematic view of fig. 4 at E.

Fig. 6 is a schematic view of the internal structure of fig. 5.

Fig. 7 is a partially enlarged schematic view of F in fig. 4.

Fig. 8 is a schematic view of the internal structure of fig. 7.

FIG. 9 is a schematic view showing the structure of the cleaning apparatus of the present invention.

Fig. 10 is a partially enlarged schematic view at a in fig. 9.

FIG. 11 is another schematic view of the cleaning apparatus of the present invention.

Fig. 12 is a partially enlarged schematic view at B in fig. 11.

FIG. 13 is a schematic view showing still another structure of the cleaning apparatus of the present invention.

Fig. 14 is a partially enlarged schematic view at C in fig. 13.

FIG. 15 is a schematic top view of the cleaning apparatus of the present invention.

FIG. 16 is a front view schematically showing the structure of the cleaning apparatus of the present invention.

Fig. 17 is a schematic structural view of the suction hood of the present invention.

Fig. 18 is a schematic structural view of the high-pressure shower cleaning apparatus of the present invention.

FIG. 19 is a schematic view of the overall structure of the cleaning cart according to the present invention.

Wherein: 1 framework I, 2 connecting seats, 3 mounting plates, 301 mounting plate I, 302 mounting plate II, 3-1 mounting plate I, 3-2 mounting plate II, 4 supports, 4-1 supports, 5 supporting rods, 5-1 supporting tubes, 5-2 adjusting screws, 7 mounting plate III, 8 hairbrushes, 9 hydraulic motors, 10 hydraulic cylinders, 10-1 oil cylinder rods, 11 connecting rod I, 12 connecting rod II, 13 spraying pipe I, 14 spray head I, 15 connecting rod III, 16 sensor covers, 17 water collecting covers, 18 connecting tubes, 19 connecting rod IV, 20 booster pumps, 21 dust collecting pipes, 21-1 dust collecting pipe joints, 22 bent pipes, 23 air suction covers, 24 framework II, 25 spraying pipe II, 26 spray head II, 27 connecting rod V, 28 mounting plate III, 29 hydraulic suspension arms, 30 heliostats, 31 cleaning vehicles, 32 rotating bases, 32-1 bottom plates, 33 supporting seats, The hydraulic support comprises a 34 boom base, a 34-1 telescopic boom I, a 35 side clamp plate I, a 36 hydraulic cylinder I, a 37 servo motor, a 38 pinion, a 39 gearwheel, a 40 upright post, a 41 sleeve, a 42 side clamp plate II, a 42-1 connecting hole I, a 42-2 connecting hole II, a 43 boom base, a 43-1 telescopic boom II, a 43-2 side clamp plate III, a 43-3 side clamp plate IV, a 44 hydraulic cylinder II, a 45 hydraulic cylinder III, a 46 rotating arm, a 47 hydraulic cylinder IV, a 48 framework mounting position, a 49 worm, a 49-1 worm shell, a 49-2 bearing and a 50 side clamp plate V.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail and fully with reference to the accompanying drawings and specific embodiments.

1-19, a position adjustment system for a heliostat cleaning apparatus, comprising:

a position adjusting system for heliostat cleaning equipment comprises a hydraulic suspension arm 29 which is arranged on a chassis of a cleaning vehicle 31 and can be adjusted by multiple degrees of freedom, an adjusting device arranged on a framework I1, a distance detecting device arranged on one side of the cleaning vehicle 31 close to the mirror surface of a heliostat 30 and a parallelism detecting device arranged on the framework I1, wherein the framework I1 is connected with a framework mounting position 48 on the hydraulic suspension arm 29 through a connecting seat I at the middle part of the upper side of the framework I, the framework I1 is provided with a mounting plate 3, the adjusting device is used for adjusting the position of a brush 8 arranged on the mounting plate 3 relative to the mirror surface of the heliostat 30, the hydraulic suspension arm 29 and the adjusting device adjust the positions of the first framework 1 and the hairbrush 8 according to the signal fed back by the parallelism detecting device, and a driver adjusts the running direction of the cleaning vehicle 31 according to the signal fed back by the distance detecting device.

The hydraulic boom 29 comprises a rotating base 32, a supporting seat 33 is rotatably arranged on the rotating base 32, the upper end of the supporting seat 33 is hinged with a boom seat 34, and a first hydraulic cylinder 36 is arranged between the supporting seat 33 and the boom seat 34; a telescopic first telescopic arm 34-1 is arranged on the cantilever base 34, a hydraulic cylinder is arranged between the cantilever base 34 and the telescopic first arm 34-1, two sides of the free end of the telescopic first arm 34-1 are provided with a second side clamping plate 42, the second side clamping plate 42 is provided with a first connecting hole 42-1 and a second connecting hole 42-2, the second side clamping plate 42 is hinged with the left end of the cantilever base 43 at the first connecting hole 42-1 through a third hydraulic cylinder 45, the second side clamping plate 42 is hinged with the middle part of the cantilever base 43 at the second connecting hole 42-2, a second telescopic arm 43-1 is arranged on the cantilever base 43, and a second hydraulic cylinder 44 is arranged between the cantilever base 43 and the second telescopic arm 43-1;

the end part of the right end of the second telescopic arm 43-1 is fixedly provided with a second hinged base which is hinged with the left end of the rotating arm 46 through the second hinged base, the side surface of the right end of the second telescopic arm 43-1 is fixedly provided with a second hinged base which is hinged with the middle part of the fourth hydraulic cylinder 47 through the second hinged base, the side surface of the rotating arm 46 is provided with the second hinged base, and the free end of the rod of the fourth hydraulic cylinder 47 is hinged with the second hinged base; the right end of the rotating arm 46 is coaxially provided with the framework mounting position 48, the framework mounting position 48 can rotate on the axis to drive the framework I1 mounted on the framework mounting position to rotate, the framework mounting position 48 is circular, the outer wall of the framework mounting position is provided with worm teeth, a worm 49 matched with the worm teeth is fixedly arranged on the rotating arm 46, and the worm 49 is connected with a servo motor. The worm 49 is arranged on the rotating arm 46 through a worm shell 49-1, and bearings 49-2 are arranged between the two ends of the worm 49 and the worm shell 49-1. The hydraulic suspension arm 29 can be adjusted in multiple degrees of freedom, can adjust the framework I1, the brush 8 and the spraying device on the framework I, and can also adjust the length of the framework I.

The two ends of the mounting plate 3 are respectively provided with a first mounting seat 3-1 and a second mounting seat 3-2, the adjusting device comprises a support 4 hinged with the first mounting seat 3-1 and a hydraulic oil cylinder 10 hinged with the second mounting seat 3-2, the free end of the support 4 is hinged with the first hinged seat, an adjustable support rod 5 is further arranged between the first mounting seat 3-1 and the first hinged seat, the two ends of the support rod 5 are respectively hinged with the first mounting seat 3-1 and the first hinged seat through shaft pins, the support 4 and the support rod 5 are equal in length and parallel to each other, a support 4-1 is fixedly arranged on the support 4, a abdicating hole passing through the support rod 5 is formed in the support 4-1, and the support 4-1 is hinged with the free end of an oil cylinder rod 10-1 of the hydraulic oil cylinder 10; and a third mounting seat 7 is fixedly arranged on the first hinged seat, the hairbrush 8 is arranged on the third mounting seat 7, and a hydraulic motor 9 for driving the hairbrush 8 to rotate is further arranged on the third mounting seat 7. The support 4 drives the brush 8 to move under the action of the hydraulic oil cylinder 10, the distance between the support 4 and the mirror surface of the heliostat 30 is adjusted, the support 4 and the support rod 5 are equal in length and are parallel to each other, the support 4, the support rod 5, the first mounting seat 3-1 and the hinge seat 6 form a parallelogram hinged to each other, and the design of the parallelogram can ensure that the plane where the brush 8 is located is always parallel to the mirror surface of the heliostat 30 along with the movement of the support 4. In addition, adjacent 3 length differences of mounting panel make adjacent crisscross setting and brush 8's outermost edge contacts about brush 8, can effectively increase the clean degree of adjacent brush 8 intermediate position.

The parallelism detection device is arranged on the framework I1, comprises a plurality of distance measurement sensors uniformly arranged along the length direction of the framework I1 and a distance measurement sensor independently arranged along the cleaning direction (the advancing direction of the cleaning vehicle 31), is used for detecting the parallelism conditions and the distance between the framework I1 and the whole brush plane arranged on the framework I1 as well as the spraying device and the heliostat 30 mirror surface, and automatically adjusts through a control system, and the hydraulic suspension arm 29 and the adjusting device can adjust the positions of the framework I1 and the brush cleaning device and the spraying device on the framework I1 according to signals fed back by the parallelism detection device. The distance measuring sensor is fixedly arranged on the first framework 1 through a sensor cover 16.

Two photoelectric sensors are further respectively arranged on the framework I1 at positions above and below the heliostat 30 and beyond the mirror surface, and are used for ensuring that the heliostat 30 is located between the two photoelectric sensors, so that whether the height of the cleaning device is proper or not is judged. In addition, when detecting heliostat 30 mirror surface edge, brush 8 leaves heliostat 30 mirror surface under hydraulic cylinder 10 drive, prevent that rotatory brush 8 with heliostat 30 mirror surface edge from taking place the contact, causing the wearing and tearing of brush 8, effectively prolonged brush 8's life. When the brush 8 is used for brushing the mirror surface, the joint movement of the brush 8 and the mirror surface is driven by the hydraulic oil cylinders 10, and each brush 8 is provided with one hydraulic oil cylinder 10. When the sensor detects the edge of the mirror surface, the hydraulic oil cylinder 10 in the corresponding area can drive the brush 8 to be separated from the mirror surface in time, the hydraulic oil cylinder 10 is adopted for driving, the response speed is high, and the attaching force of the brush and the mirror surface can be controlled within a small relatively constant range.

The frame is in on 1 brush 8 top left and right sides is provided with two photoelectric sensor, when detecting during heliostat 30 mirror surface edge, brush 8 is in hydraulic cylinder 10 drives down leaves heliostat 30 mirror surface, prevent rotatory brush 8 with contact takes place in heliostat 30 mirror surface edge, causes the wearing and tearing of brush 8, has effectively prolonged brush 8's life.

Distance detection means are provided for detecting the relative position between the body and the mirror surface of the heliostat 30 and displaying a graphical interface to the driver on a control screen in the wash cart 31, the graphical interface being similar to an indication image of a car reversing radar to prompt the driver to adjust the vehicle to travel within a set interval. On the contrary, when the vehicle is about to exceed the set range, the system gives an alarm and prompts the operator to correct the driving direction. At the moment, if the operator does not adjust in time, the system detects that the distance further deviates from the set distance, the vehicle walking driving system can automatically reduce the speed or stop the vehicle from advancing, and sound and light alarm prompt is carried out. The distance detection device can be realized by adopting a distance measurement sensor or a camera device, and is similar to a backing radar or a backing image commonly used on an automobile.

A bottom plate 32-1 is fixedly arranged on the rotating base 32, a pinion 38 and an annular bull gear 39 which are meshed with each other are arranged on the bottom plate 32-1, the pinion 38 is connected with an output shaft of a servo motor 37, and the bottom of the supporting seat 33 is fastened on the upper surface of the bull gear 39 through bolts; the middle part of the bottom plate 32-1 is fixedly provided with an upright post 40, the side surface of the upright post 40 is uniformly provided with a plurality of annular bulges along the axial direction, the upright post 40 is sleeved with a sleeve 41, an annular groove matched with the annular bulges is arranged in the sleeve 41, and the sleeve 41 is fixedly connected with the inner wall of the supporting seat 33. The supporting seat 33 is driven to rotate by the small gear 38 and the large gear 39, and the supporting seat 33 is supported and rotatably guided by the upright 40 and the sleeve 41, so that the rotation is stable and safe.

Two side clamping plates 35 are arranged on two sides of the left end of the boom seat 34, one end of the hydraulic cylinder 36 is hinged with the side clamping plates 35, and the other end of the hydraulic cylinder is hinged with the bottom of the supporting seat 33.

And linear displacement sensors are arranged in the hydraulic oil cylinder 10, the first hydraulic cylinder 36, the second hydraulic cylinder 44, the third hydraulic cylinder 45 and the fourth hydraulic cylinder 47, so that the position of a cylinder rod is detected in real time, and accurate control is performed.

The position adjusting system also comprises an illumination camera system, and the cleaning working condition and the vehicle running condition can be displayed on a control screen in the cab by arranging an illumination and night vision camera system, so that the monitoring of the cleaning state and the running state of the vehicle is facilitated.

The system is characterized by further comprising an intelligent electrical control system based on a PLC, and the intelligent electrical control system collects input signals of all sensors, hydraulic cylinders, the servo motor 10 and the hydraulic motor 9 in the position adjusting system, controls actions of all functional parts and realizes accurate adjustment and control of the position of the heliostat cleaning equipment.

In addition, the cleaning vehicle 31 further comprises a transfer case, a hydraulic power system, a water tank, a carriage, a high-pressure water system, a pneumatic system and an auxiliary system which are all controlled in a unified manner through the intelligent electric control system. The PLC is specially controlled by engineering machinery and is provided with a wide-voltage power supply module, so that the PLC can adapt to various power supply conditions such as starting, stopping and running of a vehicle, and the running safety of the PLC and the action reliability of each executing mechanism are ensured.

Wherein the heliostat cleaning device connected with the framework mounting position (48) has the following structure comprising:

the framework I1 is a structural framework made of light aluminum profiles, and the middle of the upper side of the framework I is provided with a connecting seat I which is connected with a mounting position on the hydraulic suspension arm 29.

The brush cleaning device is uniformly arranged along the length direction of the first framework 1 and comprises a mounting plate 3 fixedly connected with the first framework 1 and a disc-shaped brush 8 connected with the mounting plate 3 through an adjusting device, the mounting plate 3 and the first framework 1 are perpendicular to each other in length direction, and a first mounting seat 3-1 and a second mounting seat 3-2 are respectively arranged at two ends of the mounting plate 3. The support rod 5 is composed of two support tubes 5-1 and an adjusting screw rod 5-2 arranged between the two support tubes, and internal threads matched with the adjusting screw rod 5-2 are arranged in the support tubes 5-1.

In this embodiment, the adjacent brushes 8 are staggered left and right and the outermost edges of the brushes 8 are in contact, so that the cleaning degree of the middle position of the adjacent brushes 8 can be effectively increased. Mounting panel 3 includes mounting panel 301 and two 302 of mounting panel, and is adjacent install respectively brush 8 is in on one 301 of mounting panel and two 302 of mounting panel, a 301 length ratio of mounting panel two 302 are long, fixing of two 302 right-hand members parallel and level of mounting panel 301 and mounting panel 1 is last, the 8 positions of brush that set up on mounting panel 301 are compared the position of the brush 8 that sets up on two 302 of mounting panel is on the left side, thereby makes crisscross setting about brush 8. The adjacent brushes 8 in fig. 16 are different in height because they are not leveled by the hydraulic oil cylinder 10, and in actual use, all the brushes 8 are flush and fit with the mirror surface of the heliostat 30.

Spray set, it includes the edge connecting rod 11 that 1 length direction of skeleton evenly set up, connecting rod 11 with 1 length direction mutually perpendicular of skeleton, connecting rod 11 both ends have all set firmly two 12 connecting rods, and are a plurality of the homonymy two 12 lower extremes of connecting rod link to each other with shower 13, two shower 13 symmetry sets up in a plurality of 8 top both sides of brush, shower 13 and 1 length direction parallel arrangement of skeleton, evenly be provided with a plurality of shower first 14 on the shower 13.

The vertical connecting rod four 19 that are provided with of 1 lower extreme of skeleton, connecting pipe 18 has set firmly in the four 19 bottom ends of connecting rod, 18 one end of connecting pipe links to each other with booster pump 20, and the other end with be located open water under skeleton 1 collects the cover 17 bottom and is linked together, is used for collecting the rivers that slide along heliostat 30 mirror surface, can avoid the waste of water resource on the one hand, and on the other hand can realize the reuse of water after purifying and filtering through purifier, has effectively practiced thrift the water resource.

The dust suction device is characterized in that an air suction cover 23 is arranged on one side of the first framework 1 along the length direction of the first framework, the air suction cover 23 is communicated with a dust suction pipe 21 through a plurality of bent pipes 22 which are uniformly arranged, the dust suction pipe 21 is connected with an exhaust fan through a dust suction pipe joint 21-1 arranged on the dust suction pipe, and the dust suction pipe 21 is fixedly arranged on the first framework 1 through a connecting arm. The dust generated in the cleaning process of the brush 8 is absorbed by the air suction cover 23, so that the pollution to air and the harm to the body of a driver are prevented, and meanwhile, the dust is prevented from falling onto the surface of the heliostat 30 which is just cleaned behind. When the dust hood 23 is started, whether the spraying device works or not can be selected, and no matter whether the spraying device works or not, dust is generated.

The first spray head 14 is a low-pressure spray head or a high-pressure spray head, is selected for use according to weather conditions, is selected at a temperature of more than 0 ℃, is combined with the brush cleaning device, firstly wets, softens and cleans dust through the low-pressure spray head on one side of the brush 8, then cleans the wetted dirt again through the rotating brush 8, and finally washes the dirt cleaned by the brush 8 through the low-pressure spray head on the other side of the brush 8; and selecting a high-pressure spray head below 0 ℃, wherein the brush cleaning device does not work at the moment, the heliostat 30 mirror surface is sprayed by high-pressure hot water for cleaning, and a heating device is arranged on the cleaning vehicle 31 at the moment to heat water in a water tank in a high-pressure water system. The cleaning agent is selectively cleaned according to different weather conditions, and has high cleanliness and wide application range. And selecting the high-pressure spray head below 0 ℃, wherein the brush cleaning device does not work at the moment. When the high-pressure spray head is selected, the first spray pipe 13 is connected with a high-pressure water system, the high-pressure water system comprises a high-pressure water pump, the high-pressure water pump is installed at one end, close to a cab, in a carriage, and is a high-pressure plunger pump, and power of the high-pressure water pump is transmitted to an input belt pulley of the high-pressure water pump through a belt by a belt pulley on an output shaft of the transfer case.

The high-pressure spraying and cleaning device comprises a framework II 24 and a spraying pipe II 25 arranged on the framework II, wherein the framework II 24 is a structural frame made of a light aluminum profile, and a connecting seat II is arranged in the middle of the upper side of the framework II and is connected with a mounting position on a hydraulic suspension arm 29; the second spraying pipe 25 is arranged along the length direction of the second framework 24, a plurality of second spray heads 26 are arranged on the second spraying pipe 25, the second spray heads 26 are high-pressure spray heads, and the second spraying pipe 25 is connected with a high-pressure water system; and a plurality of distance sensors are arranged on the framework II 24 and on two sides of the spraying pipe II 25, detect the parallelism condition and the distance between the high-pressure spraying cleaning device and the mirror surface of the heliostat 30, and adjust the parallelism condition and the distance through an automatic control system. When the high-pressure spraying cleaning device is used, the framework I1, the brush cleaning device and the spraying device which are arranged on the framework I1 need to be taken down, and the high-pressure spraying cleaning device is arranged on the hydraulic suspension arm 29 through the framework II 24. At this time, the distance sensors arranged on the two sides of the second spray pipe 25 form a parallelism detection device.

The hydraulic motor 9 and the hydraulic oil cylinder 10 are controlled by adopting proportional valves, the control rigidity is good, the response speed is high, and various requirements of automatic adjustment in the process of cleaning the vehicle running at low speed are met.

The transfer case is arranged below the middle part of the chassis of the cleaning vehicle 31 and is positioned between the gearbox and the rear axle. The hydraulic power system comprises a cleaning device hydraulic control system and a vehicle traveling hydraulic system, hydraulic pumps of the cleaning device hydraulic control system and the vehicle traveling hydraulic system are respectively arranged on two sides of the transfer case, and a hydraulic element mounting plate is arranged on the hydraulic power system.

The auxiliary system comprises a pipeline, a mark, safety protection and the like. The pipeline comprises a cleaning water supply pipeline, an air pressure pipeline, a hydraulic pipeline, a lubricating pipeline and the like. In addition, the front end of the cab is provided with a water pipe and a nozzle for cleaning the road, so that water can be conveniently sprayed on the road. The washing device is also provided with an external washing hose for an operator to use when the mirror surface is washed manually. The cleaning vehicle is provided with a marking label, which provides clear guidance for correct operation, maintenance and safe use. The cleaning vehicle sets up effectual protection and suggestion to the position that endangers vehicle safe operation and personal safety, ensures light and heat electric field, vehicle and personnel's safety.

When the heliostat 30 of the solar photothermal power station is cleaned by the cleaning vehicle 31 in the invention, the following procedures are carried out:

firstly, the cleaning vehicle enters the initial state of a mirror field

The driver drives the cleaning vehicle 31 from the storehouse or the water adding point to the starting point position of the mirror field to be cleaned, which is specifically as follows: 1. the vehicle is parked in the open space in front of the cleaning operation starting position (the cleaning device is in a folded state), and is adjusted to a preparation posture before cleaning; 2. the rotating base 32 of the hydraulic suspension arm 29 rotates to the position, the pitching of the hydraulic suspension arm 29 and each hydraulic cylinder move to the position primarily according to set parameters, and the first framework 1 or the second framework 24 rotates 90 degrees to be in a vertical state.

Secondly, the correct relative position of the cleaning vehicle and the heliostat

Under the guidance of the automatic guidance system, the driver drives the vehicle at the correct relative distance from the helioscope, and then detects the starting edge of the mirror surface as follows: 1. according to the data detected by the distance detection device arranged on one side of the vehicle body, the control system displays a vehicle running route guide map on a display screen of a cab so as to facilitate a driver to correctly operate the vehicle; 2. according to the parallelism detection device and the feedback signals of the photoelectric sensors arranged above and below the mirror surface and on two sides of the brush 8, a relative distance is kept between the vehicle body and the mirror surface, so that the brush 8 can cover the mirror surface and the position of the initial edge.

Third, the initial state of the automatic cleaning of the cleaning device

Starting the automatic system of the cleaning device, the cleaning device (brush cleaning device, spraying device and high-pressure spraying cleaning device) contacts the mirror surface and starts automatic cleaning, and the automatic cleaning method comprises the following specific steps: 1. the initial state at this time is: the cleaning device is basically parallel to the mirror surface; the signals of the detection switches are all valid; the hydraulic boom 29 is in the retracted state; the brush 8 is in a retracted state; the hydraulic motor 9 and the spray head are in a non-working state; 2. starting an automatic cleaning button: the hydraulic suspension arm 29 is positioned in the middle position; the brush just contacts the mirror surface when the oil cylinder rod of the hydraulic oil cylinder 10 extends out; the hydraulic motor 9 and the spray head start to work; detecting that all signals of the switches are effective, and starting an automatic adjusting system of the posture of the cleaning device; 3. the driver confirms the correct position and posture of the input signals of the sensors and the cleaning device and the mirror surface through the rearview mirror/monitoring picture and checking the control components in the cab.

Fourthly, cleaning at constant speed

After the cleaning device is aligned, a driver drives a vehicle at a constant speed under the guidance of the positioning system, and meanwhile, the cleaning device starts an automatic cleaning process flow, which is specifically as follows: 1, after the inspection and confirmation are finished, the cleaning work can be started; 2. the driver operates the walking operation handle of the slow walking drive to drive the vehicle to move forwards; 3. automatically cleaning the vehicle in the process of moving; 4. the posture of the hydraulic suspension arm 29 is continuously adjusted when the vehicle runs to ensure that the position relation between the cleaning device and the mirror surface is relatively stable;

the automatic adjustment in the cleaning process is as follows: 1. each sensor on the first framework 1 or the second framework 24 detects the distance between the sensor and the mirror surface in real time; 2. the edge sensor on the first framework 1 or the second framework 24 detects the position of the edge sensor in the vertical direction and adjusts the position through a control system; 3. the glass sensor detects the damage of the mirror surface and controls the hairbrush 8 at the corresponding position to be lifted and avoided; 4. the vehicle body monitoring system monitors the distance between the vehicle and the mirror surface in real time and provides an intuitive interface for a driver to control the direction.

Fifthly, finishing the cleaning of a single heliostat

The cleaning device is automatically closed, and meanwhile, the cleaning device is properly and horizontally retracted, and the method comprises the following specific steps: 1. when the sensor at the front end exceeds the front edge of the mirror surface, prompting that the cleaning of the mirror surface of the heliostat 30 is finished; 2. the brush 8 is driven by a hydraulic oil cylinder 10 in the adjusting device to automatically retract, and the spraying device is automatically closed; 3. the horizontal telescoping of the hydraulic boom 29 is automatically retracted.

Six, no line

The vehicle passes through the distance between two heliostats, and the concrete is as follows: 1. the vehicle drives to the next heliostat along the shortest route; 2. the slow-moving control handle can be operated to adjust the speed of the vehicle during the running process of the vehicle.

Seven, automatic circulation cleaning operation

The next mirror set was cleaned as follows: 1. when a front end sensor on the cleaning device detects the front edge of the mirror surface, each state of the cleaning vehicle 31 is consistent with the description of the sequence number three; the cleaning vehicle 31 automatically repeats the operation flow in "three-four-five-six".

The working modes comprise the following combinations:

1. selecting a framework I1:

more than 0 degree, wash through brush belt cleaning device and the spray set on skeleton 1, can adopt brush belt cleaning device to wash alone, and can open air suction hood 23 carries out the dust absorption, or adopts brush belt cleaning device and spray set wash simultaneously, and can open air suction hood 23 carries out the dust absorption, at this moment spray set's spray head 14 chooses for use the shower head.

And when the temperature is lower than 0 ℃, the brush cleaning device stops working, the spraying device works, and at the moment, a first spray head 14 of the spraying device adopts a high-pressure spray head and can open the air suction cover 23 to absorb dust.

2. Selecting the combination of a framework I1 and a framework II 24:

And (5) replacing the second framework 24 below 0 ℃, and cleaning by using the high-pressure spray cleaning device.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A position adjusting system for heliostat cleaning equipment is characterized by comprising a hydraulic suspension arm (29) which is arranged on a chassis of a cleaning vehicle (31) and can be adjusted by multiple degrees of freedom, an adjusting device arranged on a framework I (1), a distance detecting device arranged on one side of the cleaning vehicle (31) close to a heliostat (30) mirror surface and a parallelism detecting device arranged on the framework I (1), wherein the framework I (1) is connected with a framework mounting position (48) on the hydraulic suspension arm (29) through a connecting seat I at the middle part of the upper side of the framework I (1), a mounting plate (3) is arranged on the framework I (1), the adjusting device is used for adjusting the position of a brush (8) arranged on the mounting plate (3) relative to the heliostat (30) mirror surface, and the hydraulic suspension arm (29) and the adjusting device adjust the positions of the framework I (1) and the brush (8) according to a signal fed back by the parallelism detecting device, the driver adjusts the driving direction of the cleaning vehicle (31) according to the signal fed back by the distance detection device;

the device is characterized in that a first mounting seat (3-1) and a second mounting seat (3-2) are respectively arranged at two ends of the mounting plate (3), the adjusting device comprises a support (4) hinged with the first mounting seat (3-1) and a hydraulic oil cylinder (10) hinged with the second mounting seat (3-2), the free end of the support (4) is hinged with the first hinged seat, an adjustable supporting rod (5) is further arranged between the first mounting seat (3-1) and the first hinged seat, two ends of the supporting rod (5) are respectively hinged with the first mounting seat (3-1) and the first hinged seat through shaft pins, the support (4) and the supporting rod (5) are equal in length and are parallel to each other, a support (4-1) is fixedly arranged on the support (4), and a yielding hole passing through the supporting rod (5) is arranged on the support (4-1), the support (4-1) is hinged with the free end of a hydraulic cylinder rod (10-1) of the hydraulic cylinder (10); a third mounting seat (7) is fixedly arranged on the first hinged seat, the hairbrush (8) is arranged on the third mounting seat (7), and a hydraulic motor (9) for driving the hairbrush (8) to rotate is further arranged on the third mounting seat (7);

the parallelism detection device is arranged on the framework I (1), comprises a plurality of distance measurement sensors uniformly arranged along the length direction of the framework I (1) and a distance measurement sensor independently arranged along the cleaning direction, is used for detecting the parallelism and the distance between the framework I (1) and the whole brush plane arranged on the framework I (1) as well as the spraying device and the mirror surface of the heliostat (30), and is automatically adjusted through a control system; two photoelectric sensors are respectively arranged on the first framework (1) at positions above and below the mirror surface of the heliostat (30) and beyond the mirror surface, and are used for ensuring that the heliostat (30) is positioned between the two photoelectric sensors so as to judge whether the height of the cleaning device is proper or not; two photoelectric sensors are arranged on the first framework (1) at the left side and the right side above the hair brush (8), each hair brush (8) is provided with one hydraulic oil cylinder (10), and when the edge of the mirror surface of the heliostat (30) is detected, the hair brush (8) in the corresponding area is driven by the hydraulic oil cylinder (10) to leave the mirror surface of the heliostat (30);

the hydraulic lifting arm (29) comprises a rotating base (32), a supporting seat (33) is rotatably arranged on the rotating base (32), a lifting arm seat (34) is hinged to the upper end of the supporting seat (33), and a first hydraulic cylinder (36) is arranged between the supporting seat (33) and the lifting arm seat (34); a telescopic first telescopic arm (34-1) is arranged on the cantilever base (34), a second side clamping plate (42) is arranged on two sides of the free end of the first telescopic arm (34-1), a first connecting hole (42-1) and a second connecting hole (42-2) are arranged on the second side clamping plate (42), the second side clamping plate (42) is hinged with the left end of the cantilever base (43) at the first connecting hole (42-1) through a third hydraulic cylinder (45), the second side clamping plate (42) is hinged with the middle of the cantilever base (43) at the second connecting hole (42-2), a second telescopic arm (43-1) is arranged on the cantilever base (43), and a second hydraulic cylinder (44) is arranged between the cantilever base (43) and the second telescopic arm (43-1);

the end part of the right end of the second telescopic arm (43-1) is hinged with the left end of the rotating arm (46), the side surface of the right end of the second telescopic arm (43-1) is hinged with the middle part of the fourth hydraulic cylinder (47), the side surface of the rotating arm (46) is provided with a second hinged base, and the free end of the rod of the fourth hydraulic cylinder (47) is hinged with the second hinged base; the right end of the rotating arm (46) is coaxially provided with the framework mounting position (48), the framework mounting position (48) can rotate on the axis, the framework mounting position (48) is circular, the outer wall of the framework mounting position is provided with worm teeth, a worm (49) matched with the worm teeth is fixedly arranged on the rotating arm (46), and the worm (49) is connected with a servo motor.

2. The position adjusting system for heliostat cleaning equipment according to claim 1, wherein a bottom plate (32-1) is fixedly arranged on the rotating base (32), a pinion (38) and an annular bull gear (39) which are meshed with each other are arranged on the bottom plate (32-1), the pinion (38) is connected with an output shaft of a servo motor (37), and the bottom of the supporting seat (33) is fastened on the upper surface of the bull gear (39) through bolts; the bottom plate (32-1) middle part has set firmly stand (40), stand (40) side evenly is equipped with a plurality of annular protrudingly along the axial, stand (40) overcoat is equipped with sleeve pipe (41), be equipped with in sleeve pipe (41) with annular protrudingly assorted annular groove, sleeve pipe (41) with the inner wall of supporting seat (33) links firmly together.

3. The position adjusting system for heliostat cleaning equipment according to claim 1, wherein two side clamping plates (35) are arranged on both sides of the left end of the boom seat (34), and the hydraulic cylinder (36) is hinged with the side clamping plates (35) at one end and with the bottom of the supporting seat (33) at the other end.

4. The position adjusting system for heliostat cleaning equipment according to claim 1, wherein linear displacement sensors are arranged in the hydraulic cylinder (10), the first hydraulic cylinder (36), the second hydraulic cylinder (44), the third hydraulic cylinder (45) and the fourth hydraulic cylinder (47) to detect the position of a cylinder rod in real time for precise control.

5. The position adjustment system for heliostat cleaning equipment of claim 1, further comprising an illumination camera system capable of displaying cleaning conditions and vehicle driving conditions on a control panel in the cab by providing an illumination and night vision camera system.

6. The system of claim 1, further comprising an intelligent electrical control system, wherein the intelligent electrical control system collects input signals of all sensors, hydraulic cylinders, servo motors and hydraulic motors in the position adjustment system, controls the actions of all functional components, and realizes precise adjustment and control of the position of the heliostat cleaning equipment.