CN105610396A - Universal photovoltaic robot - Google Patents

Abstract

The invention discloses a universal photovoltaic robot. The universal photovoltaic robot is characterized by comprising a bracket, electric wheel sets, a current collector, special facility and a computer control module, wherein the electric wheels sets on two metal tracks are connected into one body through the bridging type bracket; the special facility comprises a cleaning module and a camera; the special facility is connected with a cable suspending from the bracket; the current collector is connected with a track-shaped power transmission bus; the track-shaped power transmission bus is connected with an electrode of a power supply; and the power supply, the track-shaped power transmission bus, the current collector and the power utilization load of the universal photovoltaic robot form an electrical circuit for constantly supplying power to the universal photovoltaic robot. The special facility is connected with the cable suspending from the bracket; automatic facility can move directly on the ground and/or on a track arranged on the ground, and can be transported conveniently; therefore, the universal photovoltaic robot is applicable to the existing photovoltaic power generation systems that are inconvenient for setting tracks and/or the track-shaped power transmission bus on a rack; and in addition, electric energy is obtained from the track-shaped power transmission bus, so that the sizeand weight of a configured power storage battery can be greatly reduced.

Description

One general photovoltaic robot

Technical field

The present invention relates to a kind of general photovoltaic robot.

Background technology

Existing photovoltaic generating system utilizes solar power generation, provide a kind of clean, inexhaustible high-grade energy, and cost has approached thermal power generation. But some photovoltaic generating systems do not have forethought photovoltaic module surface to adopt the problem of machines clean when mounted; After, adopting the artificial clean or upper and lower photovoltaic module of a dead lift cleaning device, the large efficiency of labour intensity is low; Adopt common vehicle-mounted photovoltaic clean robot clean, in the time that state of ground is complicated, effect is not good enough; And be sometimes inconvenient to cross two clearance gap between photovoltaic module plate.

Summary of the invention

The object of the invention is to provide a kind of general photovoltaic robot.

The present invention realizes the technical scheme of its object: manufacture a general photovoltaic robot, comprise frame, electronic wheels, current collector, special facilities and computer control module; Electronic wheels on two metal tracks are connected in one by cross connection type frame, and special facilities comprises cleaning module and camera; The most easy cleaning module comprises a cleaning cloth or a scraper plate---as the windscreen wiper of vehicle wiper; Special facilities is connected with the cable hanging down in frame; Electronic wheels comprise the electronic wheels of the track travelling on track and travel on the electrical component driving wheel group on assembly; Electrical component driving wheel group comprises positive wheel and side wheel; Positive wheel is for driving; Side wheel is for location; Electrical component driving wheel group realizes cleaning module and rolls and be connected with the cooperation of photovoltaic module; The electronic wheels of track and the synchronous operation of electrical component driving wheel group; Current collector is connected with a rail shape transmission of electricity bus; Rail shape transmission of electricity bus comprises track, shaft, metal cords or the adjacent docking of the multiple stands of cross-over connection and photovoltaic module upside and/or the downside frame of external insulation and electrical communication of conduction; The resistivity of rail shape transmission of electricity bus is less than 2/ meter of 0.2 ohm of millimeter; Rail shape transmission of electricity bus is connected with the electrode of power supply; Current collector comprises electronic wheels and brush; An electric loop of electricity consumption load composition of power supply, the transmission of electricity of rail shape bus, current collector and general photovoltaic robot; Supply continually general photovoltaic robot electric power; Computer control system changes the spatiality of cleaning module by cable.

Can also comprise ground wheel, and make frame pass through four ground wheel steering mechanism taking turns and be connected with ground.

Beneficial effect: special facilities is connected with the cable hanging down in frame; Make the automation installation of operation comprise general photovoltaic robot can be directly on ground or be arranged on operation on the track on ground, conveniently shift, be applicable to the inconvenient existing photovoltaic generating system that track and/or rail shape transmission of electricity bus are set on stand between different photovoltaic devices; And because obtain electric energy from rail shape transmission of electricity bus, and can greatly reduce configured power accumulator volume weight.

Brief description of the drawings

Fig. 1,2 is respectively side-looking and the backsight structural representation that utilizes stand transmission of electricity orbital motion photovoltaic clean robot.

Fig. 3 is the bottom view of a cleansing double sided module; Fig. 4 is that the O-O of Fig. 3 is to analysing and observe.

Fig. 5 be steel pipe two ends be connected with internal and external screw thread link just cut open structural representation.

Fig. 6 is a circuit diagram being made up of power supply, rail shape transmission of electricity bus, current collector and electricity consumption load.

Fig. 7 is the composition of the control system block diagram of the photovoltaic generating system of a belt track.

Fig. 8 is the structural representation of photovoltaic clean robot on a frame cable coupling assembling.

Fig. 9,10 is respectively photovoltaic clean robot and the roll side-looking that is connected and face structural representation of photovoltaic module.

Figure 11 is the schematic diagram that rail shape transmission of electricity bus connects magnetic roller brushes, is also the amplification of Figure 12 magnetic roller brush.

Figure 12 is the structural representation of a photovoltaic inspecting robot.

Figure 13 is a stand steel transverse bar track and the embedded-type electric driving wheel group structural representation being connected that rolls.

Figure 14 is a structural representation that rail shape transmission of electricity bus is set on photovoltaic component frame.

Figure 15 is a structural representation that is installed on the photovoltaic generating system of the belt track of color steel watt terrace.

Figure 16 is the upper TV structure schematic diagram of the photovoltaic generating system of the color steel watt terrace mounting strap track of north-south individual layer.

Figure 17 is a structural representation that agricultural film composition photovoltaic green-house is set on existing photovoltaic generating system.

Figure 18 and Figure 19 are respectively the side-lookings of a multi-stylus top glass photovoltaic green-house and face structural representation.

Figure 20 is the general photovoltaic robot fundamental diagram that outside switches tracks in facade.

Figure 21 is the side-looking structural representation of a flat terrace photovoltaic green-house.

Figure 22 is a schematic diagram that doubles as the discontinuous layout of photovoltaic cell plate member of photovoltaic green-house terrace.

Figure 23,24 is respectively facing and right view of general photovoltaic robot cleaner slot light collection solar energy equipment.

Figure 25 is the fundamental diagram of a general photovoltaic robot with blower fan cloth cleaning device.

1. stands in figure; 2. photovoltaic module; 3. track; 4. go up rail platform; 5. magnetic roller brush; 6. insulation supporting parts; 7. column; 8. foundation pile; 9. steel pipe; 10. spring; 11. marks; 12,13. links; 14. spanner grooves; 15. electrical outlets; 16. electronic wheels; 17. frames; 18. cleaning modules; 19. ground wheel steering mechanism; 20. magnetic attracting devices; 21. ground wheels; 22. negative pressure sources; 23. cameras; 24. brushes; 25. power supplys; 26. use electric loadings; 27. substrates; 28. responsive wheels; 29. water blocking devices; 30. output wire ends; 31. substrate overturn mechanisms; 32. promote driving mechanism; 33. risers; 34. shovel boards; 35. PLC communication modules; 36. long mouthful dust absorption nozzles; 37. dust scraping plates; The clean cloth cylinder of 38. water distribution; 39. long mouthful water absorbing nozzles; 41. Wiper blades; 42. central siphons; 43. water distributors; 44. clean cloth materials; 46. helixes; 47. air purifiers; 48. shovel board screw bodies; 50. Electric Motor Wheel group interface circuit; 51. cleaning module interface circuits; 52. power interface circuits; 53. photovoltaic module interface circuits; 54. data/address bus; 56. governor circuits; 57. cushion blocks; 58. cables; 59. frames; 60. power transmission lines; 61. hoist engines; 62. electrical component driving wheel groups; 63. positive wheels; 64. side wheels; 65. moving sets mechanisms; 66. crane span structures; 67. Plane Rotation vice mechanisms; 68. insulating materials; 70. magnetic rollers; 71. balls or roller slide block; 72. rail shape transmission of electricity buses; 73. current collectors; 74. sheet metals or shape; 76. framework arrays; 77. short columns; 78. shaped steel; 79. installing spaces; 81. vertical edges; 82. horizontal sides; The color steel tile roof of 83. individual layers; 84. grid structure bodies; 85. long-span beams; 86. water legs; 87. general photovoltaic robots; 88. plug-in mechanical arms; 89. vacuum are inhaled pawl assembly; 91. passages that switch tracks; Agricultural robot between 92. rows; Agricultural robot in 93. stands; 94. opening tubular slide rails; 95. embedded type slide blocks; 96. films; 97. photovoltaic green-houses; 98. downpipes; 99. collection pipes; 101. track girder; 102. operation modules; 103. aerial cable; 104. pantograph; 105. ground connection rollers; 107. steel frameworks; 108. facade; 109. is domatic towards south; 111. be exposed to the north domatic; Track switches tracks on 112. terraces; Track switches tracks under 113. terraces; Robot switches tracks on 114. terraces; 116. steering base; 117. refute and integrate with; 118. strut; Robot switches tracks under 119. terraces; 121. electric expansion mechanical arms; 122. interior facade tracks; 123. outer facade tracks; 124. vertically interior rotating shafts; 126. interior transitions; 127. vertical outer shafts; 128. outer transitions; 129. rotatable glass plates; 131. glass plate inclination-angle regulating devices; 132. driving; 133. blower assy; 134. flat-top terraces; 135. bars of taking the lead; 136. steel wire reels; 137. steel wire; 138. steel wire hoist engines; 153. slot-type optical collector; 154. element; 156. water tank; 157. element cleaners; 158. guard shield; 159. dust catcher; 160. cloth flexible cables.

Detailed description of the invention

Fig. 1 to 7 provides embodiment 1 jointly.

Embodiment 1, manufacture the photovoltaic generating system of a belt track, comprise stand 1, photovoltaic module 2, power transmission and transformation device, computer control system, one group of two parallel steel tube track 3, run on the electric device on track 3---general photovoltaic robot and upper rail platform 4; Track 3 is connected with stand 1 by insulation supporting parts 6; Track 3 arranged direction are parallel with stand 1 arragement direction. Stand 1 comprises column 7, cross bar, diagonal brace, annex and foundation pile 8; Securing member connecting reinforcement concrete pile 8 for the bottom of column 7. Photovoltaic module 2 is installed on stand 1; Photovoltaic module 2 is by output wire ends 30 and electrical outlets 15 and the electrical connection of power transmission and transformation device. Insulation supporting parts 6 use steel are made, its with track 3 between contain an insulating materials watt, realize both electric insulations of track 3 and stand 1. Insulation supporting parts 6 contains a magnetic circuit and switches permanent magnet magnetic attracting device 20, for realize further magnetic joining rails 3 after track 3 installations; Track 3 adopts thin-wall stainless steel steel pipe 9 to make, stainless-steel pipe good weatherability. On steel pipe 9, make mark 11. Mark 11 comprises with the black chromium labelling technique making on stainless rule. A part in mark 11 can also adopt bar code mode, to load at lane database relative position information and the model thereof that more information comprises Water path valve in the future. Mark 11 comprises by camera and absorbs and provide computer control system, can be accurate in real time---trueness error is less than 1 millimeter---locus of photovoltaic module robot in the photovoltaic generating system of belt track is provided, facilitate the operation of photovoltaic module clean robot to comprise to avoid with photovoltaic module 2 on frame collide.

Be socketed respectively and weld at steel pipe 9 two ends and be with female link 12 and with externally threaded link 13; On two links 12,13, respectively carrying spanner groove 14 coordinates spanner to connect. Some steel pipe 9 two ends are threaded to lengthen and form a long track 3 and connect as a water-supply-pipe and water source. The spring 10 of the each employing of outermost end that is track 3 at steel pipe 9 is connected with basis. It is that track 3 is tightened that spring 10 makes steel pipe 9, and its advantage comprises: track 3 can bear heavier load, be connected and insensitive to expanding with heat and contract with cold of track 3 without arranging at track 3 middle parts with basic.

General photovoltaic robot comprises electronic wheels 16, frame 17 and is installed on the special facilities in frame 17---cleaning module 18; One group of two track 3 coordinates to roll with two groups of electronic wheels 16 of photovoltaic clean robot respectively and is connected, and every group of electronic wheels 16 comprise two wheels; Two groups of electronic wheels 16 stride across photovoltaic module 2 by a spannon frame 17 and connect. The output wire ends 30 of photovoltaic module 2 is inserted electrical outlets 15.

It is frame 17 cleaning module 18 that is rigidly connected that cleaning modules 18 are installed in frame 17 tops; The below of frame 17 is connected with four groups of ground wheels 21 by four ground wheel steering mechanism 19. Ground wheels 21 can rotate separately in ground wheel steering mechanism 19; Wheels 21 brake devices in ground also can advance or retreat; With ground wheels 21 and the flat standard of behaviour of electronic wheels 16, the slewing area of ground wheel steering mechanism 19 is positive and negative 120 degree. Frame 17 is also installed a negative pressure source 22 and a camera 23 above. Camera 23 is with mechanical adjustment arm. General photovoltaic robot brush 24 is electrically connected with track 3, and one group of two track 3 is connected with two electrodes of power supply 25 by transmission of electricity wiring. Use electric loading 26, two tracks 3, two place's brushes 24 and the power supplys 25 of cleaning module 18 form a circuit loop. Brush 24 comprises electrographite brush.

The electric device that comprises operation on two tracks 3 on adjacent two row's photovoltaic system stands 1 at track 3 comprises plantation cultivation robot; Also comprise fixing electricity consumption device such as electrically-charging equipment and solar tracking device by electric loading 26.

Power supply 25 comprises direct current and AC power; The voltage of power supply 25 is not limit, and comprises 12 to 300 volts of direct current scopes. Cleaning module 18 comprises substrate 27, is arranged at cleaning member, the pipeline of the two arrangement of mirrors picture symmetries on substrate 27 two sides---comprise blast pipe and feed pipe, responsive wheel 28 and water blocking device 29. Substrate 27 two ends of cleaning module 18 are connected with a substrate overturn mechanism 31 respectively; If substrate overturn mechanism 31 makes it to adapt to reverse direction operation for 180 degree substrate overturns 27---this row from left to right clean next row is clean from right to left. Substrate overturn mechanism 31 comprises an electric turbine mechanism; Driver output parts and the substrate 27 of substrate overturn mechanism 31 are in transmission connection; The main body of substrate overturn mechanism 31 is connected with riser 33 with a lifting driving mechanism 32 by an one-dimensional movement vice mechanism; Promote driving mechanism 32 and comprise electronic screw mandrel and pneumatic driving element, promote the center line vertical-lift along riser 33 together with substrate 27 of substrate overturn mechanism 31 that driving mechanism 32 can drive substrate 27 two ends; Lifting amplitude is 20 to 100 millimeters. Described castering action comprise for cleaning module 18 absorb photovoltaic module 2 height installation accuracy error, make cleaning module 18 not contact with photovoltaic module 2 so as fast by with the glass relic of crossing photovoltaic module 2 perk when damaged. Riser 33 is connected with frame 17. On responsive wheel 28, be provided with the vibrating sensor being connected with computer control system host signal; Several responsive wheels 28 are uniform along substrate 27 length directions. Water blocking device 29 is for stoping photovoltaic module 2 frame place ponding to trickle backward.

Cleaning member comprises shovel board 34, forms long mouthful dust absorption nozzle 36 and the dust scraping plate 37 of dry cleaning device; Form the clean cloth cylinder 38 of water distribution of washing cleaning device, long mouthful water absorbing nozzle 39 and Wiper blade 41. Shovel board 34 comprises static shovel board and oscillatory type shovel board; Oscillatory type shovel board comprises a shovel board being in transmission connection with vibration source. Oscillatory type shovel board is not vibrated and can be shoveled and scrape; The shovel board of vibration can powerfully be removed dry and hard dirt and comprise birds droppings. The cutting edge of shovel board 34 can also be zigzag, from 0.09 to 15 millimeter of the width range of zigzag shovel board tooth. Long mouthful dust absorption nozzle 36 and a long mouthful water absorbing nozzle 39 are all communicated with negative pressure source 22. Long mouth refers to that the fabric width of suction nozzle length and cleaning member is consistent thereby length is long. Long mouthful water absorbing nozzle 39 and a long mouthful dust absorption nozzle 36 are partial to Wiper blade 41 and dust scraping plate 37, are conducive to reduce water accumulating volume and laying dust amount before Wiper blade 41 and dust scraping plate 37. The axial line of substrate 27, shovel board 34, long mouthful dust absorption nozzle 36, dust scraping plate 37, the clean cloth cylinder 38 of water distribution, long mouthful water absorbing nozzle 39 and Wiper blade 41 is parallel to each other. If photovoltaic module 2 north-south sizes are very long, the fabric width of cleaning member is the north-south length of number/mono-photovoltaic modulies 2, and cleaning member divides and cleans several times described photovoltaic module 2. Blast pipe is communicated with negative pressure source 22 through control valve; Feed pipe is communicated with water source by control valve. Negative pressure source 22 comprises use Laval-cavity nozzle and electric vacuum pump.

The clean cloth cylinder 38 of water distribution comprises an inner central siphon 42, the coaxial package water distributor 43 outside central siphon 42 and the clean cloth material 44 of parcel water distributor 43. Water distributor 43 by swivel joint with extraneous be connected, the uniform through hole of water distributor 43 tube wall. The source of water comprises introduces and carries water storing tank from outside. These water arrive photovoltaic module 2 surfaces under Action of Gravity Field. These water comprise various dilution washing agent. The content of Wiper blade 41 can be with reference to prior art windshield wiper. 3 to 55 millimeters of the external diameters of water distributor 43, above uniform some permeable through holes; The size of permeable through hole comprises that diameter determines according to field requirement, and comprising average every square centimeter, to contain 0.2 to 1 diameter be the permeable through hole of 0.6 to 1 millimeter. The outside dimension scope of the clean cloth cylinder 38 of water distribution is 14 to 70 millimeters. The thickness range of clean cloth material 44 is between 3 to 30 millimeters; Clean cloth material 44 connects and comprises and being bonded on water distributor 43. Clean cloth material 44 comprises nylon yarn, stainless steel wire, luffa, weaving material, hairbrush and combination thereof. The preferred size of the clean cloth cylinder 38 of water distribution comprises: 27 millimeters of central siphon 42 external diameters; Reinforcement and the closed at both ends of 0.4 millimeter of wall thickness, some roll extrusion indents of surface band; 31 millimeters of the external diameters of water distributor 43; 0.5 millimeter of wall thickness; 5 millimeters of the thickness of clean cloth material 44. The clean cloth cylinder of water distribution 38 head and the tail two ends are each adopts a revolute pair mechanism to be connected with substrate 27 with a drum drive. The clean cloth cylinder 38 of water distribution can forward and reversely rotate. In the time that the pace of cleaning module 18 is 1 meter per second, the velocity interval that the surperficial each point of the clean cloth cylinder 38 of water distribution is brought by rotation is 0.1 to 2 meter per second. When the clean cloth cylinder of water distribution 38 surfaces adopt cluster cluster hairbrush, arrange each tuft brush according to one or more helix 46 pattern, height dimension is greater than 15 millimeters. Each tuft brush that the clean cloth cylinder 38 of water distribution adopts helix 46 patterns to arrange, coordinates the attribute with auger conveyor with dust scraping plate or Wiper blade, can make dust and water fast toward assigned direction, comprises that the direction low to position moves. Clean cloth cylinder 38 direction of rotation of water distribution comprise bottom towards or away from scraper plate, select according to field condition.

PLC communication module 35; Electric Motor Wheel group interface circuit 50, cleaning module interface circuit 51, power interface circuit 52, photovoltaic module interface circuit 53 are all connected with computer control system governor circuit 56 signals by data/address bus 54; The state of PLC communication module, electronic wheels, cleaning module, power supply and photovoltaic module is changed according to the variation of computer control system governor circuit 56 states.

The clean robot operation principle of embodiment 1: computer control system obtains about the overall information of photovoltaic module 2 and comprises according to camera 23: state whether damaged from the distance of photovoltaic module 2, photovoltaic module 2, that whether have obvious dirt foreign material and hot spot, current photovoltaic module 2 above photovoltaic module 2 comprises whether seam between the photovoltaic module in adjacent front and the data of clearance conditions and database storage have obvious difference. Situation is normal, drive cleaning module 18 to move ahead, shovel board is by the water that photovoltaic module 2 surfaces are rooted out, long mouthful of dust absorption nozzle 36 drawn photovoltaic module 2 surface dirt, the clean cloth cylinder 38 of water distribution is cleaned at the surperficial water distribution of photovoltaic module 2 rotation, long mouthful water absorbing nozzle 39 is drawn Wiper blade 41 and be collected in photovoltaic module 2 surfaces; Situation is undesired, is reported and is waited for back-office support by communication module. The sized data that camera sometimes can not provide front photovoltaic module to exceed than current photovoltaic module with enough accuracy, this may cause the shock of equipment to photovoltaic module 2. Adopt responsive wheel 28, can report at any time the state of front photovoltaic module to computer control system main frame. Judge need to raise shovel board 34 time when computer control system main frame, raise shovel board 34 by shovel board screw body 48, and shovel board 34 arrive next above piece photovoltaic module after, then adjust back shovel board 34 and make it normal work.

Upper rail platform 4 comprises a hard surface; In order, rail platform 4 surfaces are to the maximum normal distance of track 3 upper surfaces, and electronic wheels 16 lower surfaces that equal electric device are taken turns the vertical range of lower surface to ground. General photovoltaic robot with ground wheel and electronic wheels 16 can arrive the dead ahead of track 3 under machine vision helps, and can directly reach track 3 or drive off rail platform 4 from track 3 from upper rail platform 4. After the clean row's photovoltaic module of photovoltaic clean robot, drive off track 3 and its ground wheel and steadily roll and be connected with upper rail platform 4. Then drive towards next row photovoltaic module 2, comprising turns round travels. The process of the upper and lower track of photovoltaic module clean robot comprises: photovoltaic module clean robot lands on upper rail platform 4 from track 3, directly drive towards the photovoltaic module on opposite, or taking turns steering mechanism 19 by ground rotates one by one ground wheels 90 and spends, then drive towards straight next row photovoltaic module 2, provide self-position while travelling by machine vision camera 23, wherein also can utilize the guidance of the range data to next row photovoltaic module 2 of database storage to travel. Under the supervision of camera 23, photovoltaic module clean robot reaches the upper rail platform 4 of next row photovoltaic module 2, again take turns steering mechanism 19 by ground and turn round one by one the 90 degree resets of ground wheels, under camera monitors, progressively approach track 3 and take turns steering mechanism 19 lasting calibration in real time by ground, until reach track 3. In addition, during the travelling of upper rail platform 4. Photovoltaic module clean robot can also be driven to next row photovoltaic module place and reach track according to semicircular arc track by the mode of turning round. The power supply of photovoltaic module clean robot and frame comprises by current collector and obtains and carry battery from rail shape transmission of electricity bus such as track.

In south, dew or the frost blowed early morning every day on clean photovoltaic module 2 just can realize clean.

Embodiment 1 automated cleaning parts can also change like this: 1) only by shovel board 34 for removing accumulated snow; 2) only adopt long mouthful dust absorption nozzle 36 and dust scraping plate 37 for dry cleaning; Dry cleaning can also be at long mouthful of hair-dryer of the front configuration of dust absorption nozzle 36; The air outlet of hair-dryer comprises the round that grows air port and uniform thin air outlet; 3) only lengthening mouthful water absorbing nozzles 39 with Wiper blade 37 or Wiper blade 37 drives towards clean: 4) shovel board 34 increase is above along mobile hair-dryer blowing mouth and/or the suction port of suction cleaner of shovel board 34 cutting edges and computerized control; The hair-dryer moving along shovel board 34 cutting edges and/or the needed power of suction port of suction cleaner are much smaller than long mouthful blowing mouth or long mouthful suction nozzle; 5) adopt auger conveyor and collection snow container, will collect snow carrying scene; 6) omit sensitivity wheel 28 below or omit all responsive wheels 28; 7) adopt existing technology to comprise window cleaner.

Hair-dryer comprises drifting dust, blows dirt and blowing snow parts, and hair-dryer coordinates with dust suction, soil pick-up and suction snow parts conventionally; Drifting dust, blow dirt and blowing snow parts blow afloat dust, dirt and accumulated snow, be convenient to be siphoned away by dust suction, soil pick-up and suction snow parts;

The riser 33 of embodiment 1 can also extend along arc dotted line, adapts to photovoltaic module 2 tilt adjustment and follows the tracks of sunshine.

The track 3 of embodiment 1 can also be opened to the outside world, makes outside electric device obtain electric energy by supporting current collector.

The track 3 of embodiment 1 also can not be connected with power supply 25 but configure in addition other power supplys and comprises that power accumulator carries out work. Now, track 3 also need not be connected with power supply without insulating mounting.

Embodiment 1 is also applicable to the upgrading of existing photovoltaic generating system, comprises and track 3 is set and on track 3, moves various photovoltaic special equipments.

Fig. 8-10 provide embodiment 2.

In embodiment 2, photovoltaic generating system comprises photovoltaic module 2, power transmission and transformation device and the computer control system that stand 1, dotted line mark. Cushion block 57 is set in the both sides of photovoltaic generating system and installs and connect one group of two parallel steel tube track 3 by insulation supporting parts 6 on cushion block 57. At least one track 3 is connected and installed with extraneous electric insulation; One group of two track 3 is electrically connected with two electrodes of power supply; Cleaning module 18 obtains electric energy by track 3. Coordinate the two groups of electronic wheels 16 that are connected that roll to connect as one by great-leap-forward frame 17 with track 3, uniform several hoist engines 61 in frame 17 tops, hoist engine 61 cleaning module 18 of cable 58 below involving that hang down. About the content of cleaning module can reference example 1 described in.

Frame 17 adopts cable 58 to involve with cleaning module 18 and frame 17 and cleaning module 18 advanced in unison, in the time that cleaning module 18 is crossed over the gap of adjacent photovoltaic module 2, frame 17 utilizes cable 58 mention cleaning module 18 and put down after cleaning module 18 is spent gap again. Power transmission line 60 is affiliated to up in frame 17. Involving of cable 58 comprises directly dilatory cleaning module or only electric power is provided and allows cleaning module electrical component driving wheel group drive to cleaning module; In addition, being responsible for providing the electric device of electric power to cleaning module 18 can also be that wheelbar-row type electric device does not adopt cross-over connection frame.

The electrical component driving wheel group 62 of cleaning module 18 coordinates the cooperation rolling that realizes both to be connected with the frame of photovoltaic module 2 59; And rely on electrical component driving wheel group 62 to drive operation; Electrical component driving wheel group 62 comprises positive wheel 63 and side wheel 64; Positive wheel 63 rolls and is connected with the frame 59 in photovoltaic module 2 fronts; Side wheel 64 rolls and is connected with the frame 59 of photovoltaic module 2 sides; Positive wheel 63 and side wheel 64 all can be used as driving wheel; Side wheel 64 is also for retraining the locus of cleaning module 18. In Fig. 9 broken circle partial cutaway show show roller or ball from above and side and the frame 59 of photovoltaic module 2 coordinate and do rollings and be connected. Frame 59 comprises shaped metal frame; Computer control system changes the spatiality of cleaning module 18 by changing hoist engine 61 and cable 58, make it adapt with the spatiality of photovoltaic module 2 and fit on photovoltaic module 2.

Electrical component driving wheel group 62 also can only include positive wheel 63.

In embodiment 2, the cleaning module 18 of the each use of each piece in two photovoltaic modulies 2. Can also adopt a photovoltaic module 2 to adopt the polylith photovoltaic module 2 of multiple cleaning modules 18 or the neighbouring layout of a row to use the mode of a cleaning module 18. Can also be as described in Figure 10 the right, adopt a moving sets mechanism 65 that is slidably connected and moves around up and down along frame 17 with frame 17, and connect a horizontal cleaning module 18 by moving sets mechanism 65, photovoltaic module 2 is cleaned. The advantage of embodiment 2 comprises: for photovoltaic module, not bery neat existing system is installed, can repeatedly adjusts lateral attitude and the inclination angle of cleaning module and just can realize cleaning photovoltaic module.

In the time that gap between adjacent photovoltaic module 2 is large such as exceed 50 millimeters, between described adjacent photovoltaic module 2, crane span structure 66 is set. Crane span structure 66 is realized the smooth connection between the adjacent photovoltaic module 2 that gap between them is larger, and makes the electrical component driving wheel group 62 of cleaning module 18 can cross over the operation reposefully between described adjacent photovoltaic module 2 of described gap.

In embodiment 2, can also make cleaning module 18 be connected with substrate 27 by a Plane Rotation vice mechanism 67, cleaning module 18 can be rotated as shown in Figure 10 dotted line, and rotate in the clockwise direction under an angle state and clean. For Rimless photovoltaic module not, this design has advantages of the easily landing downwards of the dust of convenience or washings. Can also adopt between cleaning module 18 and substrate 27 adopts fixing corner to be connected.

The frame 17 of embodiment can only not used cable 58 to involve cleaning module 18 for connecting electronic wheels 16 yet; But the electric and signal that now frame 17 realizes by cable between cleaning module 18 is connected. Cleaning module utilizes electrical component driving wheel group to travel on photovoltaic module.

The cushion block 57 of embodiment 2 also can change foundation pile 8 into. Foundation pile is insensitive to the out-of-flatness state of field ground.

The electrical component driving wheel group of embodiment 2 can be combined with the middle cleaning module of embodiment 1 and for the driving of cleaning module.

The wheel of the electronic wheels that travel on round steel pipe track 3, the outer surface of its wheel hub can be a ring-type semicircle groove matching be connected track 3. The wheel that can also adopt other tracks and adapt with it.

Figure 11 provides embodiment 3.

In embodiment 3, manufacture a magnetic roller brush---in figure, shown in broken circle, as current collector, comprise brush 24 and at least one magnetic roller 70. Magnetic roller 70 is arranged at front side and/or the rear side of brush 24. Magnetic roller brush is connected and is electrically connected with shaped steel rail shape transmission of electricity bus 72 slides/rolls. Rail shape transmission of electricity bus 72 be one by the insulate cross bar of the photovoltaic system stand being connected of insulating materials 68 and column 7, make with paramagnetic material. Rail shape transmission of electricity bus 72 can be electrically connected with the electrode of a power supply. Front side and/or rear side at brush 24 arrange magnetic roller 70, contribute to prevent and slow down brush 24 beating at the volley to keep good operating mode. Can also be for current collector arranges a dust cover, keep brush and magnetic roller clean; Can also be at the front and back of current collector configuration cleaning brush, be included in the outside configuration cleaning brush of dust cover.

Figure 12 Figure 11 provides embodiment 4 jointly.

Embodiment 4, manufactures a photovoltaic inspecting robot, comprises electronic wheels 16, ball or roller slide block 71, frame 17, camera 23, magnetic roller brush 5 and computer control system. The content ginseng embodiment 3 of magnetic roller brush.

Shaped steel track 3 is connected by insulating materials 68 insulation with column. Be manufactured with two chutes on upper and lower two surfaces of track 3, for coordinating rolling to be connected with ball or the roller slide block 71 of photovoltaic inspecting robot. Ball or roller slide block 71 are connected with frame 17. Photovoltaic inspecting robot adopts one to drive with the shaped steel track 3 sides electronic wheels 16 that are connected that roll; And adopt two current collectors---magnetic roller brush 5---to be electrically connected with forming circuit loop and to realize power taking with shaped steel track 3 and banded rail shape transmission of electricity bus 72 respectively. Banded rail shape transmission of electricity bus 72 is not isolated with column insulation.

The dotted line broken line lower right part of embodiment 4 can also regard as separately an electrical component driving wheel group be manufactured with two grooves photovoltaic component frame coordinate rolling connection diagram.

Figure 13 provides embodiment 5.

In embodiment 5, adopt the shaped steel track 3 being connected by insulating materials 68 with column 7, shaped steel track 3 is connected with power sourced electric. In an embedded-type electric driving wheel group 16 of shaped steel track 3 inner embeddings; Electronic wheels 16 are connected with frame 17. And adopt current collector---electronic wheels and/or brush---and 3 electrical connections of shaped steel track to realize power taking.

The embedded-type electric driving wheel group 16 of the ball of embodiment 3 or roller slide block 71 and embodiment 5 can only move along the axial line of track 3, belongs to moving sets track. Moving sets track can independently form a wheelbar-row type electric device, for making an inspection tour photovoltaic module. The embedded-type electric driving wheel group 16 of the ball of embodiment 3 or roller slide block 71 and embodiment 5 can also be manufactured two tracks of arranging up and down and be connected to form circuit loop with power supply, makes more compact structure like this without cross connection type frame.

Wheelbar-row type electric device, is electrically connected with its power transmission line and cleaning module 18, can realize cleaning module 18 without frame or not be connected with frame 17. Specifically be included on two metal tracks current collector is set respectively, current collector comprises that the electronic wheels of wheelbar-row type electric device are or/and brush; Power taking assembly is electrically connected cleaning module by power transmission line; Power taking assembly is independent drive voluntarily and with cleaning module synchronous operation; An electric loop of electricity consumption load composition of power supply, two metal tracks, power taking assembly, power transmission line and cleaning modules; The cleaning module 18 of realizing in motion is connected with hard-wired power sourced electric.

Different from the round steel track connecting by insulation supporting parts, embodiment 3 more freely comprises from being connected with basis above with the connected mode of embodiment 5 tracks; The track of embodiment 3 and embodiment 5 can also mirror image be arranged symmetrically with and comprises taking the vertical s ymmetry center plane of column 7 or insulating materials 68 as datum plane mirror image and being arranged symmetrically with. Do like this can provide simultaneously two with the linkage interface of electronic wheels. Its purposes comprises makes the photovoltaic green-house terrace lower railway of introducing below.

Figure 14 provides embodiment 6.

In embodiment 6, the top of photovoltaic module 2 frame 59 towards above and/or lateral surface---be included in bond on frame 59 one deck insulating materials bond on an insulating materials---strip metal sheet or the shape 74 that adopt insulation mode to connect, double as track and high potential rail shape transmission of electricity bus, be sheet metal or shape 74 both with the electrical component driving wheel assembly of electric device closed roll be connected, be electrically connected with current collector again. The described high potential electrical connection interface electrical connection of whole row's photovoltaic module 2 is connected with the electrode of power supply again; Again other parts of frame 59 are also electrically connected and are electrically connected with another electrode of power supply.

Cleaning module adopts electrical component driving wheel group at the sheet metal of photovoltaic module 2 or travels above shape 74; Electrical component driving wheel group comprises positive wheel 63 and side wheel 64; Cleaning module can also adopt the upper/lower terminal electrical component driving wheel group of symmetric design be connected and be electrically connected with high potential rail shape transmission of electricity bus and frame 59.

In embodiment 6, strip metal sheet or a shape that adopts insulation mode to connect on the top of photovoltaic module 2 frame 59, also can directly be bonded on the glass plate of two glass dual light photovoltaic assemblies of Rimless, need to connect two strip metal sheet or shapes, to form a circuit loop.

In conjunction with the embodiments 6, embodiment 2 can also change like this: do not use track and electronic wheels, but directly adopt common electric device to comprise electric device with the photovoltaic module clean facilities road traveling at photovoltaic system scene, at this moment, the sheet metal described in employing embodiment 6 or shape 74 rail shapes transmission of electricity buses are obtained the relevant needed electric energy of electric device.

Figure 15 and 16 provides embodiment 7 jointly.

Prior art is installed photovoltaic battery panel at color steel tile roof and is conventionally retained artificial access path. Adopt the present invention can build the continuous sun field, roof of entirety. Compared with the color steel of individual layer watt, on color steel watt the continuous photovoltaic battery panel of entirety summer due to shading thoroughly and have a Stilt layer, can reduce at most every square metre of every day by 3 kilowatt hour solar energy inputs, if the on-the-spot air-conditioning that uses in workshop, can save at most 1.1 kilowatt hour idle call energy for every square metre; Compared with the color steel of night in winter and individual layer watt, can reduce 3 to 10 DEG C of room temperature lowerings owing to reducing radiation. Between the long-span beams of color steel tile roof spacing large, mostly be arch out-of-flatness and load-bearing load is low, the personnel that are not suitable for are upper and lower but be applicable to weight and be no more than the photovoltaic robot construction of 20 kilograms and clean.

In embodiment 7, the photovoltaic generating system of belt track adopts angle steel horizontal frame array 76 to install. Framework array 76 comprises several assembly installing spaces 79 that shaped steel 78 that short column 77, cross section are inverted T shape forms, and each assembly installing space 79 comprises two sections of shaped steel that are parallel to each other 78. Shaped steel 78 comprises that a vertical edge 81 is connected the horizontal sides 82 of stretching out to both sides with vertical edge with one. Between the vertical edge of two sections of shaped steel that are parallel to each other 78, just put a photovoltaic module 2 into; Article two, the horizontal sides of the shaped steel 78 being parallel to each other is held photovoltaic module 2 and is kept the neat discharge of photovoltaic module 2. Between the color steel tile roof 83 of photovoltaic module 2 and individual layer, be a grid structure body 84, for completing the photovoltaic module 2 of installing continuously with distributed constant form entirety with out-of-flatness and with the weight transfer between the long-span beams 85 of lumped parameter layout. That grid structure body 84 comprises is that rack and other form as element taking bar bar, pipe, plate, for the lightweight framework body of the transmission of power. Under photovoltaic module 2 four edges, water leg 86 is set, for receiving from the rainwater of photovoltaic module aperture infiltration and these rainwater being discharged.

Drop down for convenience of photovoltaic module 2 current above, can make the inclination angle of large planar band 0.5 to 10 degree being formed by several photovoltaic modulies 2; And make the also inclination angle with 0.5 to 10 degree of water leg 86.

Be connected with grid structure body 84 by short column 77 for the track 3 that moves general photovoltaic robot 87 and power to general photovoltaic robot 87, track 3 slightly exceeds photovoltaic module 2; Track 3 is installed with external insulation at least partly; Two adjacent tracks 3 are all connected with the electrode of a power supply and are used for to general photovoltaic robot 87 load supplyings such as electricity consumption such as grade. General photovoltaic robot 87 comprises electronic wheels 16, cross connection type frame 17, plug-in mechanical arm 88, is distributed in hoist engine 61 and general photovoltaic robot control system in frame 17. Cable 58 lower ends that hoist engine 61 hangs down connect a vacuum and inhale pawl assembly 89, and vacuum is inhaled pawl assembly 89 and comprised several suckers. The sucker that vacuum is inhaled pawl assembly 89 is communicated with negative pressure source, can draw or discharge the smooth like this object of glass plate of photovoltaic module 2.

The autoinstall procedure of embodiment 7 photovoltaic modulies 2: with scanning means to scene scan to obtain the needed data of construction and installation, design and produce installation frame structure 84, track 3 and the passage 91 that switches tracks, and inverter and power transmission line are installed, electrical outlets 15 are set on frame structure 84 and connect connecting line; Then with general photovoltaic robot 87, a photovoltaic module 2 use vacuum are inhaled to pawl assembly 89 and pick up and be transported to installation site, general photovoltaic robot 87 use plug-in mechanical arms 88 insert electrical outlets 15 by the output wire ends 30 of photovoltaic module 2 and export normally when also inspection is subject to illumination by being included in described photovoltaic module 2, put down the assigned address of photovoltaic module 2 to framework array 76. So continue to repeat until install. The movement that the passage 91 that switches tracks de-orbits 3 o'clock for general photovoltaic robot 87 is travelled.

The color steel tile roof 83 of individual layer changes concrete terrace into, can be without grid structure body 84, but the framework array 76 of carrying photovoltaic module 2 is directly connected with basic with short column 77. The part that in Figure 16, parallel oblique line indicates is skylight, local describing framework array 76, shaped steel 78 and the assembly installing space 79 of amplifying. Can ground connection when the track 3 of embodiment 7 is flat for lightning-arrest.

Ground adult is many in China, but per capita cultivated land is on the low side. Northern China, sunny, day and night temperature is large, this is the advantage of producing high-quality agricultural product. But the many local lacks of water of northern China, frost-free period is short, some is local desert and semidesert not water are permeable serious or farming, life condition harshly cause local agricultural workforce to lack, also some local underground water arsenic content is high because stone is not suitable for more. Should be in enforcement photovoltaic generation process, pursuing soil has more high quality agricultural products output and builds more facility farmland.

Figure 17 provides embodiment 8.

In embodiment 8, manufacture the photovoltaic generating system of a belt track, comprise agricultural robot 92 and the interior agricultural robot 93 of stand between column stand 1, photovoltaic module 2, general photovoltaic robot 87, row. Large broken circle is the amplification to little broken circle place: on photovoltaic component frame 59, connect and comprise the opening tubular slide rail 94 of manufacturing with laser weld aluminium section bar. Opening tubular slide rail 94 can be made up of the pipeline of a bandwidth seam, with linkage interface. And making coordinates with opening tubular slide rail 94 embedded type slide block 95 being slidably connected. And make plastic sheeting for farm use 96 or the sunshade net of the uniform connection embedded type slide block 95 in both sides; Plastic sheeting for farm use 96 is wound on a plastic sheeting for farm use reel. Pull the plastic sheeting for farm use 96 being wound on plastic sheeting for farm use reel and make the uniform embedded type slide block that is connected in plastic sheeting for farm use 96 both sides 95 embed in the opening tubular slide rail 94 being connected on front and rear row photovoltaic component frame with general photovoltaic robot 87; Make plastic sheeting for farm use 96 form a closed photovoltaic green-house terrace together with photovoltaic module 2; At the periphery seamless link photovoltaic green-house facade of described photovoltaic green-house terrace, form a sky and wear the photovoltaic green-house 97 of photovoltaic module.

Also can adopt more than two opening tubular slide rail 94 to arrange two-layer above plastic sheeting for farm use. Opening tubular slide rail 94 and embedded type slide block 95 can also be done to accommodation, comprise and adopt raised line formula slide rail and coordinate the opening tubular slide block being slidably connected with raised line formula slide rail. Described various slide block also comprises the slide block with ball. The design of these slide rails and slide block can be with reference to prior art.

Make some through holes in opening tubular slide rail 94 bottoms, and on partially embedded slide block 95, make the internal thread hole concentric with described perforate, when pulling, general photovoltaic robot 87 is connected with plastic sheeting for farm use 96 and with the slide block 95 of internal thread hole during to the through hole of the opening tubular slide rail 94 of assigned address, with a hold-down screw, through described through hole being connected with described internal thread hole, lockable slider 95 and plastic sheeting for farm use 96 are not blown away. Later weather gets warm again after a cold spell, and screws off hold-down screw and can recall plastic sheeting for farm use and be wound on once again on described plastic sheeting for farm use reel. In like manner, plastic sheeting for farm use 96 is changed into the sunshade net that both sides are connected with embedded jump ring 95, can realize in summer sunshade.

Below the aluminum section of photovoltaic component frame in lower position, setting or one section of water leg 86 of integral production are collected rainwater; Photovoltaic module can separately or share one section of water leg 86. The two ends band end cap of water leg 86; The bottom of water leg 86 is provided with osculum; The osculum of water leg 86 is communicated with collection pipe 99 by downpipe 98. Water leg 86 is communicated with a collection pipe 99 by downpipe 98. Rainwater is pooled to appointed place by collection pipe 99. Collection pipe 99 can double as track or double as track is connected the loop of a power supply part with rail shape transmission of electricity bus operation electric device conduct.

The uniform some osculums in the position of plastic sheeting for farm use 96 directly over water leg 86; 1 to 10 millimeter of osculum diameter. Using plastic sheeting for farm use period, the rainwater of photovoltaic green-house 97 terraces enters water leg 86 by osculum and removes.

Do not use the photovoltaic generating system of the belt track of plastic sheeting for farm use, the rainwater on photovoltaic module 2 directly enters water leg 86.

In Figure 17 embodiment 8, the track that adopts altogether two cover tracks to comprise to be doubled as by the upper and lower frame of photovoltaic module as previously mentioned and the film lower railway being formed with the track 3 being connected by insulation supporting parts with stand 1 column 7 by collection pipe 99 respectively. During using film, on the track that frame 59 doubles as, still can move general photovoltaic robot 87 for patrolling and examining and cleaning. Film lower railway can the row of operation between agricultural robot 92---the agricultural robot of operation between two row's stands 1. Between row, agricultural robot 92 comprises agricultural robot computer control system between front and rear row ground wheels 21, chassis, the track girder 101 being connected with chassis, the operation module 102 being connected with track girder 101, mechanical arm type current collector 73 and row. Operation module 102 comprises various modules, sowing module, rice transplanting module, rice shoot module and harvesting module. Operation module can directly be obtained by the sowing, rice transplanting, rice shoot and the reaping apparatus transformation that are installed on existing agricultural machinery, specifically can be with reference to prior art. Operation module 102 can be fixed on operation or the limit operation that ceaselessly moves around whole track girder 101 tops on track girder 101. Mechanical arm current collector 73 by mechanical arm in the electrical connection of middle maintenance and rail shape transmission of electricity bus of advancing.

Between row, agricultural robot 92 is to use ground wheels 21 carrying out farmland capital construction, arable land, harvesting; And can also be without ground wheels 21 in the time the plant protection operation such as applying fertilizer but adopt the electronic wheels that coordinate with track 3 and collection pipe 99.

Aerial cable 103 is also set and moves agricultural robot 93 in stand in column stand 1 inside---at the agricultural robot of stand 1 inside processing. Agricultural robot 93 comprises ground wheels 21, chassis, the track girder 101 being connected with chassis, the operation module 102, pantograph 104 and the ground connection roller 105 that are connected with track girder 101 in stand. Ground connection roller 105 adopts low electrical resistant material such as metal to make, for low resistance earthing. In stand, agricultural robot 93 is slided and is electrically connected power taking with aerial cable 103 by pantograph 104, and is connected with power sourced electric with the earth by ground connection roller 105. Column stand 1 does not block travelling of the interior agricultural robot 93 of stand.

For the single-column stand of describing in Fig. 8, do not need agricultural robot 93 in stand can complete whole farming.

Embodiment 8, adopts the agricultural robot that intelligent degree is high to substitute in a large number plastic sheeting for farm use prolongation frost-free period artificial, that utilization is connected with photovoltaic module, utilizes photovoltaic module to collect rainwater clean storage; Be expected to extenuate the problem of the short and energy supply of desert and semidesert area agricultural workforce's shortage, lack of water, frost-free period. Be expected implementing in photovoltaic generation, build 100,000,000 mu of facility farmlands and replace at least 0.5 hundred million mu of east farmland and improve ecological condition and/or provide soil for economic development for building forest.

The many local rain hotsyncs of northern China, more than the annual rainfall to 150 of summer rice planting season millimeter, if near the photovoltaic module of the photovoltaic generating system utilizing is collected rainwater and is suitably stored, in actual efficiency 50%, can make to be increased to 210 millimeters with the rice field of the same area of rainwater-collecting photovoltaic generating system in the capacity of water supply of Period of paddy planting, can meet the Rice Cropping minimum requirements of 210 millimeters of precipitation. The photovoltaic generating system of the belt track of rainwater-collecting is installed in desert and semidesert area, can be in implementing photovoltaic generation, build a large amount of facility farmlands, be included in the facility farmland that adopts geotextiles to form plantation block and use planting soil to build in desert in plantation block. For photovoltaic generation operation enterprise, not only need not pay farmland reimbursement for expenses, can also obtain the construction subsidy of facility farmland, be conducive to the popularization of solar electrical energy generation.

Can also build the glass photovoltaic green-house with pinnacle and track is set inside and outside glass photovoltaic green-house and comprise the track that doubles as rail shape transmission of electricity bus, the general photovoltaic robot that orbits, comprises the robot that glass photovoltaic green-house terrace and facade inner surface is carried out to wiped clean. By continuing the condensate water on the inner surface of wiping terrace and facade, can effectively improve sunshine transmitance in the winter time of terrace facade, improve the situation of the existing booth low light level, low temperature, high humidity. And likely realize at terrace 50% and arranging in lighttight photovoltaic cell situation, still obtain and the common identical illumination of inner surface wiping and the planting effect of not carrying out.

Figure 18 to 20 provides embodiment 9 jointly.

In embodiment 9, the photovoltaic generating system of belt track is a multi-stylus top glass photovoltaic green-house 97, comprises steel framework 107, facade 108, pinnacle terrace and photovoltaic green-house computer control system with photovoltaic module. Steel framework 107 combinations photovoltaic system stand and photovoltaic green-house; Pinnacle terrace comprises towards south domatic 109 and be exposed to the north domatic 111; In photovoltaic green-house 97 inside and/or outer setting track 3 and the track that switches tracks; Track 3 be arranged at upper and lower and facade 108 medial and lateral of pinnacle terrace or with steel framework 107 integral productions; Track 3 comprises the track that doubles as rail shape transmission of electricity bus and be connected with power sourced electric---can be with reference to aforementioned content. The pattern of track 3 comprises the pattern of Figure 11 and Figure 12 embodiment, two the track 3 mirror image symmetries as described in Figure 11 or Figure 12 can also be combined, and its both sides of the track after merging can be connected with two groups of Electric Motor Wheel groups simultaneously. The general photovoltaic robot 87 that travels on track 3 comprises automated cleaning machine people.

In order to realize the transfer of general photovoltaic robot 87 between front and rear row track 3, adopt steel framework 107 and in the operation that switches tracks on the track robot that switches tracks. The track that switches tracks comprises the track 113 that switches tracks under switch tracks on terrace track 112 and terrace; The track 112 that switches tracks on terrace is arranged at the side of photovoltaic green-house 97, comprises one group two tracks that double as rail shape transmission of electricity bus. Travel on electronic wheels that the robot 114 that switches tracks on the terrace of terrace upside comprises chassis, is connected with chassis, steering base 116, two refute integrate with 117 and with refute 117 struts that are connected 118 that integrate with. Steering base 116 is connected with chassis with a rotating drive mechanism by a vertical revolute pair mechanism; Refuting 117 the attribute of integrating with rolls and is connected, transmits the gravity of general photovoltaic robot 87 and provide and the electrical connection of power supply to general photovoltaic robot 87 comprise with the electronic wheels 16 of general photovoltaic robot 87 identical with track 3. Can also make strut 118 for adjustable support rod. General photovoltaic robot 87 on the terrace directly track 3 from terrace drives to the terrace docking with it robot 114 that switches tracks and refutes and integrate with on 117 or 117 drive on track 3 from refuting to integrate with. Refuting integrates with loads the robot 114 that switches tracks on the terrace of general photovoltaic robot 87 on 117 and can travel and make it refute to integrate with and 117 dock towards domatic two tracks 3 of another group with same on terrace along the track 112 that switches tracks on terrace, so that the general photovoltaic robot 87 of its loading can directly drive on the track 3 docking with it.

On terrace, switch tracks robot 114 steering base 116 on terrace different between domatic the switching tracks of track 3. In the time that general photovoltaic robot 87 need to be transposed to towards south domatic 109 from the plane 111 of being exposed to the north, the robot 114 that switches tracks on terrace utilizes steering base 116 that general photovoltaic robot 87 is turned to 180 degree in way travelling.

In the time that strut 118 is adjustable support rod, can also regulates and refute 117 the state of integrating with and without steering base 116 by described adjusting strut. Present dynasty south domatic 109 be exposed to the north domatic 111 track 3 fabric widths when different, need to configure and can regulate the robot 114 that switches tracks on the terrace of refuting 87 fabric widths that integrate with.

The design of the built on stilts track 112 that switches tracks is set as Figure 19, for the photovoltaic system that has a snow-up terrain of great use in track 3 sides; For building at the photovoltaic system of the water surface also of great use.

The track 113 that switches tracks under terrace is arranged at photovoltaic green-house 97 inside, travels on electronic wheels that the robot 119 that switches tracks under the terrace switching tracks on track 113 under terrace comprises chassis, is connected with chassis, electric expansion mechanical arm 121 and two and refutes and integrate with 117. Electric expansion mechanical arm 121 is connected with chassis by spherical pair mechanism or revolute pair mechanism; Electric expansion mechanical arm 121 adopts electronic screw mandrel or hydraulic air lever to make, and refutes for regulating 117 the spatiality of integrating with. Refuting 117 the attribute of integrating with rolls and is connected, transmits the gravity of general photovoltaic robot 87 and provide and the electrical connection of power supply to general photovoltaic robot 87 comprise with the electronic wheels 16 of general photovoltaic robot 87 identical with track 3. Refute 117 the state of integrating with can adjust to terrace under any one group of two track 3 integrate with. General photovoltaic robot 87 under terrace can be directly drives to from track 3 robot 119 that switches tracks under the terrace docking with it and refutes and integrate with 117 or 117 drive on track 3 from refuting to integrate with. Refuting integrates with loads the robot 119 that switches tracks under the terrace of general photovoltaic robot 87 figure of will first loweing on 117 and avoids towards south domatic 109 obstructions of being exposed to the north domatic 111 bottoms, then travel along the track 113 that switches tracks under terrace, the general photovoltaic robot 87 of its loading after putting in place, recovers figure by electric expansion mechanical arm 121 again and makes it refute to integrate with and 117 dock towards domatic another row track 3 with same under terrace, so that can directly drive to docked track 3.

Under terrace, switch tracks robot 119 complete general photovoltaic robot 87 in difference towards domatic turning to, can be directly in the time putting down figure and recover figure, realize. Certainly require the relevant parts of general photovoltaic robot 87 to comprise that cleaning module 18 is insensitive to self two ends exchange. Present dynasty south domatic 109 be exposed to the north domatic 111 track 3 fabric widths when different, need to configure and can regulate the robot 119 that switches tracks under the terrace of refuting 117 fabric widths that integrate with.

One group two interior facade tracks 122 and outer facade track 123 are set respectively on facade 108 medial and lateral of photovoltaic green-house 97; Interior facade track 122 and outer facade track 123 have the attribute of track and rail shape transmission of electricity bus, comprise with the electronic wheels of general photovoltaic robot 87 and roll and coordinate, transmit the gravity of general photovoltaic robot 87 and provide and the electrical connection of power supply to general photovoltaic robot; Interior facade track 122 and the general photovoltaic robot 87 that travels above outer facade track 123. Facade 108 medial and lateral can adopt two tracks as described in Figure 11 and 12 to arrange up and down; And the electronic wheels of the general photovoltaic robot 87 travelling thereon are also done corresponding change.

Each crossing inner side, turning of adjacent facade 108 in photovoltaic green-house 97, is provided with a vertically interior rotating shaft 124, in vertically interior rotating shaft 124, connects one section of interior transition 126 of docking with the interior facade track 122 of adjacent two facades; Interior transition 126 vertically in rotating shaft 124 turns to facade track 123 places in which, described interior transition 126 just can realize with this interior facade track 123 docks, and the general photovoltaic robot 87 of facade 108 inner sides can sail to the interior transition 126 of docking with it from interior facade track 122; Or sail to interior facade track 122 from interior transition 126.

Each outside, turning that adjacent facade 108 outside photovoltaic green-house 97 intersects, is provided with a vertical outer shaft 127, vertically on outer shaft 127, connects one section of outer transition 128 of docking with the outer facade track 123 of adjacent two facades 108; Vertically which outer facade track 123 place the outer transition 128 on outer shaft 127 turns to, described outer transition 128 just can realize with this outer facade track 123 docks, and the general photovoltaic robot 87 in facade 108 outsides can sail in the outer transition 128 of docking with it from outer facade track 123; Or sail on outer facade track 123 from outer transition 128. In figure, dotted line represents another stable position of interior transition 126 and outer transition 128.

Interior transition 126 and outer transition 128 have the attribute of interior facade track 122 and outer facade track 123.

Be exposed to the north and domatic 111 can also comprise rotatable glass plate 129; Rotatable glass plate 129 is connected with basis by a glass plate inclination-angle regulating device 131. Can realize by glass plate inclination-angle regulating device 131: 1) close rotatable glass plate 129 transparent heat insulating and facilitate general photovoltaic robot cleaner; 2) open rotatable glass plate 129 aeration-cooling; 3) sunshine is reflexed to the photovoltaic cell or that sunshine is reflexed to rear row is domatic towards south below the domatic pair of glass dual light photovoltaic assembly in south with row by the light reflex of utilizing rotatable glass plate 129. Can also be in rotatable glass plate 129 inner sides or outer surface mirror surface be set strengthen light reflex. Mirror surface comprises high emissivity aluminium sheet and aluminized plastic film; The mode that mirror surface posts comprises employing transparent silica gel bonding.

Photovoltaic green-house 97 configures a driving 132; Driving 132 comprise electronic wheels, rail shape transmission of electricity bus, crane beam, with crane beam the roll hoist engine being connected and the computer control system of driving a vehicle. The some cables that hang down from hoist engine; Cable connects the linkage interface of a blower assy 133 separately; The state of blower assy 133 changes according to the state variation of driving computer control system main frame. Driving 132 belongs to electric device, and its Electric Motor Wheel group coordinates to roll with the track at adjacent two terrace pinnacles place respectively and is connected. On crane beam, be provided with the linkage interface being connected with the robot 114 that changes gear on terrace, and can be connected with the robot 114 that changes gear on terrace by described linkage interface.

In the time of photovoltaic green-house 97 terrace accumulated snow,, towards south domatic 109 and be exposed to the north on domatic 111 and move around accumulated snow is blown off with blower assy 133. The state of blower assy 133 is set as required.

Photovoltaic green-house inside is cleaned and removed water smoke and avoid scalding under condensing water droplet crops, adopt safety glass can resist hail, therefore can build flat-top photovoltaic green-house. Compared with pinnacle, flat-top booth minimizing terrace area and cost, minimizing area of dissipation; Smooth for terrace draining, can make sky wear the inclination angle of 1 to 14 °. Flat-top photovoltaic green-house is to towards insensitive.

Figure 21 and Figure 22 provide embodiment 10 jointly.

Embodiment 10, builds flat-top glass photovoltaic green-house 97, and except flat-top terrace 134, all the other contents can be with reference to embodiment 9. Flat-top terrace can be arranged two glass dual light photovoltaic assemblies 2 according to the density of 30-80%.

On flat-top terrace 134, arrange one group two movably 3, two tracks 3 of track relatively fix and use two steel wire rope cables 58 and 4 hoist engines 61 altogether that are arranged at flat-top terrace two ends to be in transmission connection. General photovoltaic robot 87 moves on track 3, and the operation back and forth from left to right on flat-top terrace 134 of stack track 3, can realize general photovoltaic robot 87 operation on whole flat-top terrace 134.

Flat terrace 134 1 sides settle a steel wire reel 136; Steel wire reel 136 coiling steel wire net 137 above; The forward position of steel wire adopts the bar 135 of taking the lead to involve. At the opposite side of flat terrace 134, two steel wire hoist engines 138 are set; Steel wire hoist engine 138 is in transmission connection by cable and steel wire 137; Steel wire hoist engine 138 links with steel wire reel 136, can on whole flat-top terrace 134, be covered with uniform and parallel steel wire or woven steel fabric 137; Wherein gauge of wire is according to actual selection, 0.3 to 0.6 millimeter of its preferable range scope; Preferably 8 to 11 millimeters of spacing between adjacent wires; The aperture preferred value of braided steel wire mesh is that the bead of 9.9 millimeters of diameters just passes through.

Figure 23,24 provides embodiment 11 jointly.

Embodiment 11, manufactures a platform trough formula Photospot solar device, comprises slot-type optical collector 153, Columnating type solar element 154, tracking mode stand 1 and computer control system; Columnating type solar element 154 comprise middle temperature thermal-arrest please with condensation photovoltaic battery. Tracking mode stand 1 comprises solar tracking device 139 and one group of two track 3, and is in transmission connection with slot-type optical collector 153. On track 3, move general photovoltaic robot 87; General photovoltaic robot 87 comprises frame 17, electronic wheels 16, current collector, cleaning module 18, element clean arm assembly, water tank 156 and computer control system. Tracking means 139 and current collector and track 3 are electrically connected. The clean arm assembly of element comprises manipulator and element cleaner 157; Element cleaner 157 contains the shape matching with element 154 surfaces. Cleaning module 18 is connected with frame 17 by promoting driving mechanism 32; Promote driving mechanism 32 and adjust the state of cleaning module 18. Cleaning module 18 comprises long mouthful dust absorption nozzle, the clean cloth cylinder 38 of water distribution, long mouthful water absorbing nozzle and Wiper blade, and its related content can reference example 1 and prior art. As different from Example 1, slot-type optical collector 153 part to be cleaned comprises parabola minute surface; Therefore, described long mouthful dust absorption nozzle, long mouthful water absorbing nozzle and the shape of Wiper blade and the shape on described parabola minute surface surface match. The clean cloth cylinder 38 of water distribution of wiping parabola minute surface comprises that the clean cloth cylinder of wooden club type water distribution or the clean cloth cylinder of water distribution by multiple segmentations form, so that it is clean that whole minute surface is implemented to indifference. The surface configuration of describing a clean cloth cylinder 38 of wooden club type water distribution is amplified in part in Figure 24.

Cleaning module 18 implement clean in, as required, computer control system makes the manipulator behavior of the clean arm assembly of element make element cleaner 157 element 154 of fitting implement clean to element 154.

Switch tracks facility and the technology of the general photovoltaic robot 87 of embodiment 11 can realize with reference to embodiment above.

Figure 25 provides embodiment 12.

In embodiment 12, general photovoltaic robot comprises ground wheels 21, frame 17, current collector 73 and computer control system. An aerial cable 103 and a power connection are installed on stand, and current collector 73 is electrically connected by pantograph 104 and aerial cable 103. In frame 17, articulate more than one blower assy 133 and cleaning module 18 with hoist engine by cable 58, at least guard shield 158 of blower assy 133 use covers. Guard shield 158 is communicated with a dust catcher 159. The air outlet of blower assy 133 articulates the glass pane surface of some cloth flexible cable 160 through photovoltaic modulies 2. In the time that general photovoltaic robot is connected and moved ahead along photovoltaic module 2 by pantograph 104 and aerial cable 103, start blower assy 133. Cloth flexible cable 160 is waved as flag is in wind, realize the wiping to glass pane surface; Dust catcher 159 is extracted the air in guard shield 158 to filter rear discharge up to standard out. Meanwhile, cleaning module 18 further cleans (related content can with reference to previous embodiment) to photovoltaic module 2 surfaces.

In the time removing the accumulated snow on photovoltaic module 2 surfaces, without guard shield 158, dust catcher 159 and cleaning module. In situation that can be clean for cloth flexible cable 160, without cleaning module 18. Sometimes also can be clean and without dust catcher 159 and/or guard shield 158 with flexible cable cloth 160.

Claims (2)

1. a general photovoltaic robot, is characterized in that comprising frame, electronic wheels, current collector, special facilities and computer control module; Electronic wheels on two metal tracks are connected in one by cross connection type frame, and special facilities comprises cleaning module and camera; The most easy cleaning module comprises a cleaning cloth; Special facilities is connected with the cable hanging down in frame; Electronic wheels comprise the electronic wheels of the track travelling on track and travel on the electrical component driving wheel group on assembly; Electrical component driving wheel group comprises positive wheel and side wheel;

Current collector is connected with a rail shape transmission of electricity bus; Rail shape transmission of electricity bus comprises track, shaft, metal cords or the adjacent docking of the multiple stands of cross-over connection and photovoltaic module upside and/or the downside frame of external insulation and electrical communication of conduction; The resistivity of rail shape transmission of electricity bus is less than 2/ meter of 0.2 ohm of millimeter; Rail shape transmission of electricity bus is connected with the electrode of power supply; Current collector comprises electronic wheels and brush; An electric loop of electricity consumption load composition of power supply, the transmission of electricity of rail shape bus, current collector and general photovoltaic robot.

2. according to a kind of photovoltaic module clean robot claimed in claim 1, it is characterized in that also comprising ground wheel; Frame is connected with ground wheel by four ground wheel steering mechanism.