CN116901818A - An intelligent cleaning vehicle for reflective mirrors and collector tubes in photothermal power stations - Google Patents

Abstract

The invention discloses an intelligent cleaning vehicle for a photo-thermal power station reflector surface and a heat collecting pipe, which comprises the following components: a vehicle body including a cab, a chassis, a compressed air system, a hydraulic system, a fuel vapor generator, and a first drive system; the mechanical arm is arranged on the chassis; the cleaning tool rack is arranged on the mechanical arm and can perform pitching and rotating motions along with the mechanical arm; the water path system is arranged on the chassis and used for supplying water to the cleaning tool rack, the water path system comprises a cleaning pipeline and a steam pipeline, the cleaning pipeline is communicated to the cleaning tool rack, and the steam pipeline is communicated to the fuel steam generator and then to the cleaning tool rack; the compressed air system provides power for the cleaning tool rack and provides power for the water system to purge. Ensures that the reflecting mirror surface and the heat collecting tube can be sufficiently cleaned, and has simple operation, higher efficiency and better cleaning effect.

Description

An intelligent cleaning vehicle for reflective mirrors and collector tubes in photothermal power stations

Technical field

The invention relates to an intelligent cleaning vehicle used for reflective mirrors and heat collecting tubes in photothermal power stations.

Background technique

During the operation and maintenance of the solar thermal power plant, due to the climate environment of the mirror field, wind and dust, etc., the solar thermal heliostat needs to be cleaned regularly to ensure the reflectivity of the mirror to sunlight and improve the photothermal power generation efficiency of the mirror field. Stay within the design requirements. Since the trough reflector has a special single parabolic shape, a heat collector and a heat collector support structure are installed above the mirror, the installation height and angle of the reflector are variable, and the cleaning methods and intensity required by different dirt on the surface of the reflector are The differences determine the great difficulty of cleaning work. At present, there is no cleaning vehicle specifically for reflecting mirrors and collector tubes.

Contents of the invention

The purpose of the present invention is to provide an efficient and safe intelligent cleaning vehicle for reflective mirrors and heat collecting tubes in photothermal power stations.

In order to solve the above technical problems, the present invention adopts the following technical solution: an intelligent cleaning vehicle for reflective mirrors and heat collecting tubes in photothermal power stations, which includes:

The vehicle body, which includes the cab, chassis, compressed air system, hydraulic system, fuel vapor generator, and first drive system;

a robotic arm, which is installed on the chassis;

a cleaning tool holder, which is installed on the robotic arm and can perform pitching and rotational movements with the robotic arm;

A water pipeline system is installed on the chassis and used to supply water to the cleaning tool rack. The water pipeline system includes a cleaning pipeline and a steam pipeline. The cleaning pipeline is connected to the cleaning tool rack. The steam pipe The path is connected to the fuel steam generator and then to the cleaning tool rack;

The compressed air system provides power for the cleaning tool rack and purging power for the waterway system.

In another embodiment, the waterway system includes a water tank and a cover installed on the chassis and located on the rear end. The water tank, compressed air system, hydraulic system, and fuel steam generator are installed in the cover, so The cab is located on the chassis and on the front end, and the robotic arm is provided on the chassis between the cab and the cover.

In another embodiment, the first drive system includes an engine, a transfer case, a traveling motor, a first plunger pump, a front wheel assembly and a rear wheel assembly. When the cleaning vehicle is not performing cleaning operations and is traveling normally, The engine is drivingly connected to the rear wheel assembly through a transfer case; when the cleaning vehicle needs cleaning operations and moves, the engine is drivingly connected to the first plunger pump through the transfer case, and the first plunger pump transmits power Connect to the traveling motor to move or stop the cleaning vehicle at low speed.

In another embodiment, the vehicle body includes a retractable front axle, and the first drive system includes a second plunger pump for driving a lifting cylinder that extends out of the front axle. When the cleaning vehicle When the vehicle is parked and stability needs to be improved, the engine drives the lift cylinder through the transfer case and the second piston pump to extend the front axle until the front wheel assembly is lifted off the ground.

In another embodiment, the first drive system further includes a hydraulic generator and a gear pump, and the engine transmits power to the hydraulic generator through a transfer case and a gear pump in sequence.

In another embodiment, the robotic arm includes several oil cylinders, and the hydraulic system is respectively connected to each oil cylinder of the robotic arm and controls the action of each oil cylinder. Each oil cylinder of the robotic arm passes through a transfer case and the third Two plunger pumps are connected to the engine.

In another embodiment, the cleaning tool frame includes a roller brush motor, and the roller brush motor is connected to the engine through a transfer case and the second plunger pump.

In another embodiment, the robotic arm includes a robotic arm mounting base, a rotating oil cylinder rotatably connected to the robotic arm mounting base, a turntable assembly installed on the rotating oil cylinder, and rotating with the turntable assembly. The connected boom assembly, the luffing oil cylinder whose two ends are rotatably connected to the turntable assembly and the boom assembly respectively and the rotating shafts at both ends are parallel to each other, the telescopic oil cylinder that drives the boom assembly to telescope, and the The front end of the boom assembly is rotatably connected to the cleaning rack connector, and the swing cylinder is installed on the cleaning rack connector and the boom assembly.

In another embodiment, the boom assembly includes a first boom, a second boom mounted outside the first boom, and a third boom mounted outside the second boom. The cylinder body of the telescopic oil cylinder is installed on the third boom, and the piston rod of the telescopic oil cylinder is installed on the first boom. The rear end of the third boom is connected to the turntable assembly and the transformer respectively. The width cylinder is connected.

In another embodiment, the outer wall of the third boom is provided with a first support platform and a second support platform fixed on the first support platform, and its two ends are respectively fixed on the front end of the first support platform and the second support platform fixed on the first support platform. The first wire harness chain plate on the rear end of the second support platform, the second wire harness chain plate with both ends fixed on the front end of the second support platform and the first boom respectively, the pipeline of the cleaning tool rack is passed through In the first wire harness chain plate and the second wire harness chain plate.

The beneficial effects of the present invention are: the present invention can realize intelligent cleaning of the reflecting mirrors and collector tubes of trough-type photothermal power stations in low-temperature environments. The driving state of the cleaning vehicle switches with its working state. When cleaning work is required, the transfer box will clean the vehicle. The driving power is forced to convert, so that the cleaning vehicle can only move under a low-speed traveling motor, which not only ensures driving safety, but also ensures that the reflecting mirror and heat collecting tube can be fully cleaned. It is simple to operate, has high efficiency, and has a good cleaning effect.

Description of the drawings

Figure 1 is a schematic structural diagram of the present invention;

Figure 2 is a schematic diagram of the transmission mode of the first drive system;

Figure 3 is the schematic diagram of the hydraulic system;

Figure 4 is a schematic diagram of the connection between the water system, the compressed air system and the fuel steam generator;

Figure 5 is a schematic structural diagram of the cleaning tool rack;

Figure 6 is a schematic structural diagram of the manual adjustment seat;

Figure 7 is a schematic structural diagram of the big arm;

Figure 8 is a schematic structural diagram of the telescopic part;

Figure 9 is a schematic structural diagram of the sensing part;

Figure 10 is a schematic structural diagram of the small brush assembly;

Figure 11 is a schematic structural diagram of the large brush assembly.

Detailed ways

The present invention will be described in detail below in conjunction with the embodiments shown in the drawings:

As shown in Figure 1, the intelligent cleaning vehicle used for the reflective mirrors and collector tubes of photothermal power stations includes: a vehicle body 7, a robotic arm 8, a cleaning tool rack 0, and a waterway system 9.

As shown in Figure 4, specifically, the vehicle body 7 includes a cab 71, a chassis 72, a compressed air system 73, a hydraulic system 74, a fuel steam generator 75, and a first drive system; a robotic arm 8 is installed on the chassis. 72; Waterway system 9, which is installed on the chassis 72 and is used to supply water to the cleaning tool rack 0. The waterway system 9 includes a cleaning pipeline 91 and a steam pipeline 92. The cleaning pipeline 91 is connected to the cleaning tool rack 0, and the steam The pipeline 92 is connected to the fuel steam generator 75 and then to the cleaning tool rack 0; the compressed air system 73 provides power for the cleaning tool rack 0 and provides purging power for the water system 9.

The waterway system 9 includes a water tank 93 and a cover 94 installed on the chassis 72 and located on the rear end. The water tank 93 , the compressed air system 73 , the hydraulic system 74 , and the fuel steam generator 75 are installed in the cover 94 . The cab 71 Located on the chassis 72 and on the front end, the robotic arm 8 is provided on the chassis 72 between the cab 71 and the cover 94 .

As shown in Figure 2, the first drive system includes an engine, a transfer case, a traveling motor, a first plunger pump, a front wheel assembly 78 and a rear wheel assembly 79. When the cleaning vehicle is not performing cleaning operations and is traveling normally, the engine passes The transfer case is drive-connected to the rear wheel assembly; when the cleaning vehicle needs to be cleaned and moved, the engine is drive-connected to the first piston pump through the transfer box, and the first piston pump transmits power to the traveling motor to connect the cleaning vehicle to a low speed. Move or park. The vehicle body 7 includes a retractable front axle 76, and the first drive system includes a second plunger pump and a lifting cylinder 77 for driving the front axle to extend out. When the cleaning vehicle is parked and stability needs to be improved, the engine passes The transfer case and the second piston pump drive the lifting cylinder to extend the front axle until the front wheel assembly is lifted off the ground. The first drive system also includes a hydraulic generator and a gear pump. The engine transmits power to the hydraulic generator through the transfer case and the gear pump in turn. The robotic arm 8 includes several oil cylinders. The hydraulic system 74 is respectively connected to each oil cylinder of the robotic arm 8 and controls the action of each oil cylinder. Each oil cylinder of the robotic arm 8 is connected to the engine through a transfer case and a second plunger pump.

The robotic arm 8 includes a robotic arm mounting base 81, a rotating oil cylinder 82 rotatably connected to the robotic arm mounting base 81, a turntable assembly 83 installed on the rotating oil cylinder 82, and a boom assembly 84 rotatably connected to the turntable assembly 83. , a luffing cylinder 85 whose two ends are rotatably connected to the turntable assembly 83 and the boom assembly 84 respectively, and the rotating shafts at both ends are parallel to each other, a telescopic cylinder 86 that drives the boom assembly to telescope, and is connected to the front end of the boom assembly. The rotationally connected cleaning rack connector 87, the swing cylinder 88 installed on the cleaning rack connector 87 and the boom assembly 84, the rotating cylinder 82 controls the rotation of the upper end surface of the turntable assembly 83 perpendicular to the chassis 72, and the luffing cylinder 85 pushes the crane The arm assembly 84 swings up and down, and the swing cylinder 88 pushes the cleaning rack connector 87 to swing slightly.

The boom assembly includes a first boom 841, a second boom 842 set outside the first boom 841, and a third boom 843 set outside the second boom 842. The cylinder body of the telescopic cylinder 86 is installed. on the third boom 843, and the piston rod of the telescopic cylinder 86 is installed on the first boom 841. The rear end of the third boom 843 is connected to the turntable assembly 83 and the luffing cylinder 85 respectively.

The outer wall of the third boom is provided with a first support platform 88 and a second support platform 89 fixed on the first support platform. The two ends are respectively fixed on the front end of the first support platform 88 and the rear end of the second support platform 89 The first wire harness chain plate 881 on the top, and the second wire harness chain plate 882 whose two ends are respectively fixed on the front end of the second support platform and the first crane arm, and the pipeline of the cleaning tool rack 0 is passed through the first wire harness chain plate and the second harness chain plate.

As shown in Figure 5-11, the cleaning tool frame includes: roller brush motor, manual adjustment seat 1, boom 2, telescopic part 3, pipeline system 4, sensor part 5, and brush cleaning part 6. The roller brush motor is connected to the engine through the transfer case and the second plunger pump.

Manual adjustment base 1, which includes an upper mounting base 11, a first rotating shaft 12 fixed on the upper mounting base 11, and the end of the piston rod is connected to the upper mounting base 11 to drive the upper mounting base 11 and the first rotating shaft 12 by telescopically The first piston 13 that rotates along the axis of the first rotating shaft 12, the second rotating shaft 14, the lower mounting base 15 that is rotationally connected to the upper mounting base 11 through the second rotating shaft 14, and the upper limit position provided on the upper mounting base. The shaft 16, the lower limit shaft 17 and the limit pin 18 are provided on the lower mounting seat 15 and are parallel to the upper limit shaft 16. The upper limit shaft 16 and the lower limit shaft 17 are provided with multiple sets of limit holes 19. When the limit When the position pins 18 are inserted into different groups of limiting holes 19, the angles of the upper mounting base 11 and the lower mounting base 15 are different. The first piston 13 is perpendicular to the first rotation axis 12. The first piston 13 and the first rotation axis 12 need to be connected to the hydraulic mechanical arm on the cleaning vehicle. The first rotation axis 12 rotates through the expansion and contraction of the first piston 13, and the first rotation axis 12 rotates. The brush motor is drivingly connected to the first rotating shaft 12 .

The big arm 2 includes a crossbeam 21 and a plurality of arms whose rear ends are fixed on the crossbeam 21; the support arm includes an upper support arm 22 and a lower support arm 23 that are symmetrically mounted on both ends of the crossbeam 21.

There are multiple telescopic parts 3, and several telescopic parts 3 are installed on the front end of each arm. Each telescopic part 3 includes a first mounting base 31 fixedly connected to the arm, and a first mounting base 31 fixed on the first mounting base. The first support plate 32, the rear end portion is rotatably connected to the rear end portion of the first support plate 32 and is actively telescopic, the first telescopic member 33, the rear end portion is rotatably connected to the front end portion of the first support plate 32 and is telescopically The second telescopic part 34, the second supporting plate 35 whose rear end is rotatably connected to the front end of the first supporting plate 32, and the brush base which is rotatably connected to the front ends of the first telescopic part 33 and the second telescopic part 34. 36; The brush base 36 is fixedly connected to the front end of the second support plate 35. The first telescopic member 33 telescopically drives the second support plate 35 to rotate around the front end of the first support plate 32, thereby driving the brush base 36 to rotate. The first telescopic member 33 is a hydraulic cylinder, and the second telescopic member 34 includes an inner sleeve 341 and an outer sleeve 342 that are sleeved and slidable.

The pipeline system 4 is distributed along the boom 2 and includes a first pipeline 41 for providing pressure medium, a second pipeline 42 for providing cleaning liquid, a gas pipeline 43, a steam pipeline 44 and a spray assembly. 45. The second pipeline 42 and the steam pipeline 44 are both connected to the spray assembly 45 and are respectively provided with on-off valves.

The sensing part 5 is used to detect the distance between the brush cleaning part and the part to be cleaned. The sensing part 5 includes a sensor mounting bracket 51 installed on the telescopic part 3 and a distance sensor 52 installed on the sensor mounting bracket 51 .

The brush cleaning part 6 includes several small brush assemblies 61 and several large brush assemblies 62; two telescopic parts 3 are installed on the upper arm 22, and the two telescopic parts 3 are respectively provided with a small brush assembly 61 and a A large brush assembly 62 is provided with two telescopic parts 3 installed on the lower arm 23. The two telescopic parts 3 installed on the lower arm 23 are respectively provided with a large brush assembly 62. Each small brush assembly 61 includes a first brush installation plate 63 installed on the brush base 36, a second brush installation plate 64 fixed on both ends of the first brush installation plate 63, and a second brush installation plate 64 fixed on both ends of the first brush installation plate 63. The small hydraulic motor 65 on the second brush mounting plate 64 and the small brush 66 connected to the output shaft of the small hydraulic motor 65. The first brush mounting plate 63 is provided with a number of small brushes distributed in a divergent and arc shape. The adjustment holes 631 and the brush base 36 are provided with small bolt assemblies 632 corresponding to the small adjustment holes 631 respectively. The small bolt assemblies 632 are used to fix the brush base 36 and the first brush mounting plate 63 . Each large brush assembly 62 includes a third brush mounting plate 67 connected to the brush base 36, a large hydraulic motor 68 installed on the third brush mounting plate 67, and connected to the output shaft of the large hydraulic motor 68. The large brush 69, the third brush mounting plate 67 includes a vertical plate 671 and a horizontal plate 672 perpendicular to the vertical plate 671. The horizontal plate 672 is connected to the brush base 36, and is provided with several divergent and arc-shaped brushes. The brush base 36 connected to the third brush mounting plate 67 is provided with large bolt assemblies 674 corresponding to the large adjustment holes 673. The large bolt assemblies are used to fix the brush base. 36 and transverse plate 672, and the large hydraulic motor 68 is installed on the vertical plate 671. The first pipeline 41 not only provides pressure medium (hydraulic oil) to the first telescopic member 33 of the telescopic part 3 , but also provides pressure medium (hydraulic oil) to the large hydraulic motor 68 and the small hydraulic motor 65 . Each large brush or small brush 66 is equipped with a distance sensor 52 respectively.

The cleaning tool rack is divided into two working modes:

Mode 1: Normal working mode (ambient temperature is above zero)

Step 1: Extend the hydraulic manipulator arm on the cleaning vehicle to move the cleaning tool holder above the photothermal mirror;

Step 2: Use the distance sensor to measure the distance between the cleaning tool holder and the mirror surface, thereby adjusting the telescopic part of the tool holder so that the brush cleaning part and the mirror surface fit well;

The third step: spray water from the high-pressure water line to wet and flush the photothermal mirror with high-pressure water, and flush the collector tube with high-pressure water. The first pipeline rotates the hydraulic motor, thereby driving the large brush and small brush to rotate to the photothermal energy. The mirror surface is brushed;

Step 4: During the cleaning process, the distance between the cleaning tool holder and the mirror is measured in real time through the ranging sensor system, and the telescopic part is adjusted to maintain a relatively stable adhesion between the brush plate and the mirror, ensuring the safety of the cleaning process and avoiding the need for cleaning. The collision of the tool holder against the mirror surface also ensures the cleaning effect.

Mode 2: Low temperature working mode (ambient temperature is below zero)

Since the ambient temperature is below zero, high-pressure water cannot be used for cleaning. Therefore, high-temperature steam is used to clean the collector tubes of the solar thermal power station.

Step 1: Extend the hydraulic manipulator arm on the cleaning vehicle to move the cleaning tool holder above the photothermal mirror;

Step 2: Use the distance sensor to measure the distance between the cleaning tool holder and the mirror surface, thereby adjusting the telescopic part of the tool holder so that the brush cleaning part and the mirror surface fit well;

Step 3: High-temperature steam pipeline flushes the collector tube with high-temperature steam. The first pipeline rotates the hydraulic motor, thereby driving the brush plate to rotate to dry brush the photothermal mirror surface;

Step 4: During the cleaning process, the distance between the cleaning tool holder and the mirror is measured in real time through the ranging sensor system, and the telescopic part is adjusted to maintain a relatively stable adhesion between the brush plate and the mirror, ensuring the safety of the cleaning process and avoiding the need for cleaning. The collision of the tool holder against the mirror surface also ensures the cleaning effect.

The above embodiments are only for illustrating the technical concepts and characteristics of the present invention. Their purpose is to enable those familiar with this technology to understand the content of the present invention and implement it accordingly. They cannot limit the scope of protection of the present invention. All equivalent changes or modifications made based on the spirit of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An intelligent cleaning vehicle for reflective mirrors and collector tubes in photothermal power stations, which includes: The vehicle body, which includes the cab, chassis, compressed air system, hydraulic system, fuel vapor generator, and first drive system; a robotic arm, which is installed on the chassis; It is characterized in that the cleaning vehicle also includes: a cleaning tool holder, which is installed on the robotic arm and can perform pitching and rotational movements with the robotic arm; A water pipeline system is installed on the chassis and used to supply water to the cleaning tool rack. The water pipeline system includes a cleaning pipeline and a steam pipeline. The cleaning pipeline is connected to the cleaning tool rack. The steam pipe The path is connected to the fuel steam generator and then to the cleaning tool rack; The compressed air system provides power for the cleaning tool rack and purging power for the waterway system. 2. The intelligent cleaning vehicle for reflecting mirrors and heat collecting tubes of photothermal power stations according to claim 1, characterized in that: the waterway system includes a water tank and a cover installed on the chassis and located on the rear end. The water tank, compressed air system, hydraulic system, and fuel steam generator are installed in the cover, the cab is located on the chassis and on the front end, and the mechanical arm is located on the cab and the cover. on the chassis between the bodies. 3. The intelligent cleaning vehicle for reflective mirrors and collector tubes of photothermal power stations according to claim 1, characterized in that: the first drive system includes an engine, a transfer case, a traveling motor, a first plunger pump, The front wheel assembly and the rear wheel assembly. When the cleaning vehicle is not performing cleaning operations and is driving normally, the engine is transmission connected to the rear wheel assembly through the transfer case; when the cleaning vehicle needs cleaning operations and moves, the engine is connected through the transfer case. The box is drivingly connected to the first plunger pump, and the first plunger pump transmits power to the traveling motor to make the cleaning vehicle move at low speed or stop. 4. The intelligent cleaning vehicle for reflective mirrors and collector tubes of photothermal power stations according to claim 3, characterized in that: the vehicle body includes a retractable front axle, and the first drive system includes a second plunger. The pump is used to drive the lifting cylinder extending out of the front axle. When the cleaning vehicle is parked and stability needs to be improved, the engine drives the lifting cylinder through the transfer case and the second plunger pump to lift the The front axle extends until the front wheel assembly is lifted off the ground. 5. The intelligent cleaning vehicle for reflecting mirrors and heat collecting tubes of a photothermal power station according to claim 3, characterized in that: the first drive system further includes a hydraulic generator and a gear pump, and the engine sequentially passes through the transfer case. The box and gear pump transmit the power to the hydraulic generator. 6. The intelligent cleaning vehicle for reflecting mirrors and heat collecting tubes of photothermal power stations according to claim 3, characterized in that: the mechanical arm includes several oil cylinders, and the hydraulic system is connected to each oil cylinder of the mechanical arm respectively. And controls the action of each oil cylinder. Each oil cylinder of the robotic arm is connected to the engine through a transfer case and the second plunger pump. 7. The intelligent cleaning vehicle for reflecting mirrors and heat collecting tubes of photothermal power stations according to claim 3, characterized in that: the cleaning tool frame includes a roller brush motor, and the roller brush motor passes through the transfer case and the A second plunger pump is connected to the engine. 8. The intelligent cleaning vehicle for reflecting mirrors and heat collecting tubes of photothermal power stations according to claim 3, characterized in that: the mechanical arm includes a mechanical arm mounting base, and a rotary rotary shaft rotatably connected to the mechanical arm mounting base. Oil cylinder, a turntable assembly installed on the rotating oil cylinder, a boom assembly rotatably connected to the turntable assembly, and a rotating shaft at both ends that are rotatably connected to the turntable assembly and the boom assembly respectively. A luffing oil cylinder that is parallel to each other, a telescopic oil cylinder that drives the boom assembly to telescope, a cleaning frame connector that is rotatably connected to the front end of the boom assembly, and a cleaning frame connector that is installed on the cleaning frame connector and the crane. Swing cylinder on the arm assembly. 9. The intelligent cleaning vehicle for reflective mirrors and heat collecting tubes in photothermal power stations according to claim 8, characterized in that: the boom assembly includes a first boom and is sleeved on the outside of the first boom. The second boom and the third boom sleeved outside the second boom, the cylinder of the telescopic cylinder is installed on the third boom, and the piston rod of the telescopic cylinder is installed on the first boom. On the arm, the rear end of the third boom is connected to the turntable assembly and the luffing cylinder respectively. 10. The intelligent cleaning vehicle for reflective mirrors and heat collecting tubes of photothermal power stations according to claim 9, characterized in that: a first support platform is provided on the outer wall of the third boom and is fixed to the third A second support platform on a support platform, a first wire harness chain plate whose two ends are respectively fixed on the front end of the first support platform and the rear end of the second support platform, and both ends are respectively fixed on the front end and rear end of the second support platform. The second wire harness chain plate on the first boom, the pipeline of the cleaning tool rack is passed through the first wire harness chain plate and the second wire harness chain plate.