CN205273660U - General photovoltaic robot - Google Patents

Abstract

The utility model provides a general photovoltaic robot, characterized by include frame, electric dynamic wheel group, special facilities and power battery, electricity dynamic wheel group and the vice track cooperation roll connection of removal, the special facilities is including clean module and camera, the special facilities is connected with the frame. Can also include the ground wheel, the frame is passed through ground wheel steering mechanism and is connected with the ground wheel, clean module includes the base plate and sets up in the clean part and the pipeline on base plate single face or two sides, clean parts include independent scraper blade, independently shovel board, the clean device of dry -type, clean one of device, blowing part and the snow collection parts of washing or its combination, the clean device of washing includes the water distribution parts, cleans parts, parts and wiper blade absorb water. It at least can be only with a set of electric dynamic wheel group, compact to remove vice connection.

Description

A kind of general photovoltaic robot

Technical field

The utility model relates to a kind of general photovoltaic robot.

Background technology

Existing photovoltaic generating system utilizes solar power generation, it is provided that a kind of cleaning, inexhaustible high-grade energy, and cost is close to thermal power generation. But some photovoltaic generating systems do not consider that photovoltaic module surface adopts the problem of machines clean when mounted in advance; After, adopting the artificial cleaning or artificial carrying upper and lower photovoltaic module of cleaning device, the big efficiency of labour intensity is low; Common vehicle-mounted photovoltaic clean robot is adopted to clean, the less effective when ground situation is complicated; And be sometimes inconvenient to cross the clearance gap between two blocks of photovoltaic module plates.

Summary of the invention

The purpose of this utility model to be provided a kind of general photovoltaic robot.

The utility model realizes the technical scheme of its object: manufactures a general photovoltaic robot, comprises frame, electronic wheels, special facility, power cell and computer control module; Electronic wheels coordinate to roll with more than one moving sets track and are connected; Special facility comprises cleaning module and camera; The most easy cleaning module comprises one piece of cleaning cloth or one piece of scraper plate, and described scraper plate comprises the windscreen wiper of vehicle wiper; Special facility is connected with frame; The electrical component driving wheel group that electronic wheels comprise the electronic wheels of the track travelling on track and travel on assembly; Electrical component driving wheel group comprises front wheel and side wheel; Front wheel is used for driving; Side wheel is used for location; Electrical component driving wheel group realizes cleaning module and is connected with the cooperation rolling of photovoltaic module; The electronic wheels of track and electrical component driving wheel group synchronous operation.

Ground wheel can also be comprised, and make frame be connected with ground wheel by four ground wheel turning device.

Useful effect: moving sets connection is minimum can only with one group of electronic wheels, volume compact.

Accompanying drawing explanation

Fig. 1,2 utilizes the side-looking of stand transmission of electricity orbital motion light volt clean robot and rear TV structure schematic diagram.

Fig. 3 is the fish-eye 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 coupling end just cut open structural representation.

Fig. 6 is a schematic circuit being made up of power supply, track-like transmission of electricity bus, current collector and electricity consumption load.

Fig. 7 is the Controlling System composition frame chart of the photovoltaic generating system of a belt track.

Fig. 8 is the structural representation of light volt clean robot on a frame cable tie-in module.

Fig. 9,10 is the side-looking that is connected of light volt clean robot and photovoltaic module rolling respectively and faces structural representation.

Figure 11 is the schematic diagram that track-like 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 light volt inspecting robot.

Figure 13 is the structural representation that a stand steel transverse bar track rolls be connected with embedded electronic wheels.

Figure 14 is a structural representation arranging track-like transmission of electricity bus on photovoltaic component frame.

Figure 15 is the structural representation of the photovoltaic generating system of the belt track that is installed on color face, steel watt sky.

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

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

Figure 18 and Figure 19 is the side-looking of the photovoltaic green-house of pinnacle glass more than one respectively and faces structural representation.

Figure 20 is the general photovoltaic robot principle of work figure that outside switches tracks in facade.

Figure 21 is the side-looking structural representation of face, flat sky photovoltaic green-house.

Figure 22 is the schematic diagram of a double discontinuous layout of photovoltaic cell plate member doing face, photovoltaic green-house sky.

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

Figure 25 is the principle of work figure of the general photovoltaic robot of a band blower fan cloth cleaning device.

1. stand in figure; 2. photovoltaic module; 3. track; 4. go up rail platform; 5. magnetic roller brush; 6. insulate supporting parts; 7. column; 8. base stake; 9. steel pipe; 10. spring; 11. marks; 12,13. coupling end; 14. spanner grooves; 15. electrical outlets; 16. electronic wheels; 17. frames; 18. cleaning modules; 19. ground wheel turning device; 20. magnetic devices; 21. ground wheels; 22. negative pressure sources; 23. cameras; 24. brushes; 25. power supplys; 26. by electrical load; 27. substrates; 28. responsive wheels; 29. water blocking devices; 30. output wire ends; 31. substrate overturn mechanisms; 32. lifting driving mechanisms; 33. risers; 34. shovel boards; 35. electric line carrier communication modules; 36. long mouthful dust absorption nozzles; 37. dust scraping plates; The 38. clean cloth cylinders of cloth water; 39. long mouthful water absorbing nozzles; 41. Wiper blades; Central siphon in 42.; 43. water distributors; 44. clean cloth materials; 46. spiral-linees; 47. air purifiers; 48. shovel board screw bodies; 50. electronic wheels interface circuits; 51. cleaning module interface circuits; 52. power interface circuits; 53. photovoltaic module interface circuits; 54. data buss; 56. governor circuits; 57. cushion blocks; 58. cables; 59. frames; 60. transmission lines; 61. windlasss; 62. electrical component driving wheel groups; 63. front wheels; 64. side wheels; 65. moving sets mechanisms; 66. crane span structures; 67. plane revolute pair mechanisms; 68. insulating material; 70. magnetic rollers; 71. balls or roller slide block; 72. track-like transmission of electricity buses; 73. current collectors; 74. tinsels or metal section bar; 76. framework arrays; 77. short columns; 78. shaped steel; 79. installation spaces; 81. vertical edges; 82. horizontal sides; The color steel tile roof of 83. individual layers; 84. spatial grid structure bodies; 85. long-span beams; 86. water legs; 87. general photovoltaic robots; 88. plug-in mechanical arms; 89. vacuum are inhaled pawl and are always become; 91. switch tracks passage; 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. downcomers; 99. remittance water pipes; 101. track girder; 102. operation modules; 103. overhead line; 104. pantograph; 105. ground connection rollers; 107. Steel Structure; 108. facade; 109. is domatic towards south; 111. be exposed to the north domatic; Switch tracks on 112. days faces track; Switch tracks under 113. days faces track; Switch tracks on 114. days faces robot; 116. steering base; 117. refute and integrate with; 118. strut; Switch tracks under 119. days faces robot; 121. electric expansion mechanical arms; Facade track in 122.; 123. alien invasion tracks; 124. vertically interior rotating shafts; Transition in 126.; 127. vertical outer shafts; 128. outer transitions; 129. rotatable glass plates; 131. sheet glass inclination-angle regulating devices; 132. driving; 133. blower assy; 134. face, flat-top skies; 135. take the lead bar; 136. woven wire reels; 137. woven wire; 138. woven wire windlasss; 153. slot-type optical collector; 154. element; 156. water tank; 157. element clearers; 158. guard shield; 159. suction cleaner; 160. cloth flexible cables.

Embodiment

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, the electronic device general photovoltaic robot running on track 3 and upper rail platform 4; Track 3 is connected with stand 1 by insulation supporting parts 6; Track 3 arranged direction is parallel with stand 1 arragement direction. Stand 1 comprises column 7, cross bar, diagonal brace, annex and base stake 8; The bottom of column 7 fastening piece connects reinforced concrete stake 8. Photovoltaic module 2 is installed on stand 1; By exporting, wire ends 30 and electrical outlets 15 are electrically connected photovoltaic module 2 with power transmission and transformation device. Insulation supporting parts 6 is made with steel, containing an insulating material watt between itself and track 3, it is achieved the electric insulation of track 3 and both stands 1. Insulation supporting parts 6 switches permanent magnet magnetic device 20 containing a magnetic circuit, for realizing further magnetic joining rails 3 after track 3 installation; Track 3 adopts thin-wall stainless steel steel pipe 9 to make, stainless-steel pipe good weatherability. Steel pipe 9 makes mark 11. Mark 11 comprises with the black chromium labeling technique making on stainless rule. A part in mark 11 can also adopt bar code fashion, to load, at lane database, relative position information and the model thereof that more multi information comprises Water path valve in the future. Mark 11 is comprised and is absorbed by camera and provide computer control system, precision accuracy error can be less than the locus of 1 millimeter of offer photovoltaic module robot in the photovoltaic generating system of belt track in real time, facilitate robot cleaner for photovoltaic module operation to comprise and avoid colliding with the frame on photovoltaic module 2.

It is socketed respectively at steel pipe 9 two ends and welds the coupling end 12 with internal thread and with externally threaded coupling end 13; Respectively carrying spanner groove 14 on two coupling ends 12,13 coordinates spanner to connect. Some steel pipe 9 two ends be threaded lengthen form a root length track 3 and as a hydraulic pipe and water source connection. A spring 10 is respectively adopted to be connected with basis in the steel pipe 9 i.e. outermost end of track 3. Spring 10 makes steel pipe 9 i.e. track 3 tighten, and its advantage comprises: track 3 can bear heavier load, without the need in the middle part of track 3 arrange with basis connect and expanding with heat and contract with cold of track 3 is insensitive.

The special plant cleanliness module 18 that general photovoltaic robot comprises electronic wheels 16, frame 17 and is installed in frame 17; One group of two track 3 coordinates to roll with two groups of electronic wheels 16 of light volt clean robot respectively and is connected, and often organizes electronic wheels 16 and comprises 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 inserts electrical outlets 15.

Cleaning module 18 i.e. frame 17 is installed above frame 17 be rigidly connected cleaning module 18; The lower section of frame 17 is connected with four groups of ground wheels 21 by four ground wheel turning device 19. Ground wheel turning device 19 can rotate separately ground wheels 21; Ground wheels 21 brake device also can advance or retreat; Parallel with electronic wheels 16 as benchmark taking ground wheels 21, the rotation scope of ground wheel turning device 19 is positive and negative 120 degree. Frame 17 also installs a negative pressure source 22 and a camera 23 above. Camera 23 band mechanical adjustment arm. General photovoltaic robot brush 24 and track 3 are electrically connected, and one group of two track 3 is by two Electrode connection of transmission of electricity wiring and power supply 25. Cleaning module 18 form a circuit loop with electrical load 26, two track 3, two place's brushes 24 and power supply 25. Brush 24 comprises graphite brush.

Track 3 comprise adjacent two row light volt system racks 1 on two tracks 3 on run electronic devices comprise plantation cultivation robot; Fixing electricity consumption device for example charging facility and solar tracking device is also comprised by electrical load 26.

Power supply 25 comprises direct current and AC power; The voltage of power supply 25 is not limit, and comprises direct current scope 12 to 300 volt. Cleaning module 18 comprises substrate 27, is arranged at the cleaning member of two groups of mirror image symmetries on substrate 27 two sides, pipeline comprises vapor pipe and water service 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 it is cleaning from left to right that substrate overturn mechanism 31 makes it to adapt to this row of reverse direction operation for 180 degree of substrate overturns 27, next row cleans 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 promotes driving mechanism 32 by an one-dimensional movement vice mechanism and one and is connected with riser 33; Promote driving mechanism 32 and comprise electronic screw mandrel and pneumatic driving mechanism part, promote driving mechanism 32 and the substrate overturn mechanism 31 at substrate 27 two ends can be driven to promote along the central axis of riser 33 together with substrate 27; Lifting amplitude is 20 to 100 millimeters. Described lifting effect comprises the height setting accuracy error for cleaning module 18 absorb light photovoltaic assembly 2, makes cleaning module 18 not contact with photovoltaic module 2 so that quickly through the glass relic with tilting when crossing photovoltaic module 2 breakage. Riser 33 is connected with frame 17. Responsive wheel 28 is provided with and the vibration transducer that computer control system host signal is connected; Some responsive wheels 28 are uniform along substrate 27 length direction. For stoping, photovoltaic module 2 frame place ponding trickles water blocking device 29 backward.

Cleaning member comprises shovel board 34, the long mouth dust absorption nozzle 36 forming dry cleaning device and dust scraping plate 37; Form the cloth water clean cloth cylinder 38 of washing cleaning device, long mouth 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 to shovel and is scraped; The shovel board of vibration powerful can be removed dry and hard dirt and comprise birds droppings. The cutting edge of shovel board 34 can also be spination, and the width range of spination shovel board tooth is from 0.09 to 15 millimeter. Long mouth dust absorption nozzle 36 is all connected with negative pressure source 22 with long mouth water absorbing nozzle 39. Long mouth refers to that suction nozzle length thus length consistent with the fabric width of cleaning member is long. Long mouth water absorbing nozzle 39 and long mouth dust absorption nozzle 36 are partial to Wiper blade 41 and dust scraping plate 37, are conducive to the water accumulating volume before reducing Wiper blade 41 and dust scraping plate 37 and long-pending dirt amount. The axial line of substrate 27, shovel board 34, long mouth dust absorption nozzle 36, dust scraping plate 37, cloth water clean cloth cylinder 38, long mouth water absorbing nozzle 39 and Wiper blade 41 is parallel to each other. If photovoltaic module 2 north-south size is very long, the fabric width of cleaning member is the north-south length of number/mono-photovoltaic module 2, and namely cleaning member divides several the described photovoltaic modulies 2 of scouring. Vapor pipe is connected with negative pressure source 22 through control valve; Water service pipe is connected with water source by control valve. Negative pressure source 22 comprises use Laval-cavity nozzle and electric vacuum pump.

Cloth water clean cloth cylinder 38 comprises the clean cloth material 44 of water distributor 43 outside middle central siphon 42 of inner middle central siphon 42, a coaxial package and parcel water distributor 43. Water distributor 43 is connected with the external world by swivel joint, the uniform through hole of water distributor 43 tube wall. The source of water comprises introduces from outside and carries water storing tank. These water arrive photovoltaic module 2 surface under gravity. These water comprise various dilution washing composition. The content of Wiper blade 41 can with reference to prior art windshield wiper. The external diameter of water distributor 43 3 to 55 millimeters, above uniform some permeable through holes; The size of permeable through hole comprises diameter and determines according to field requirement, comprises per square centimeter on average and contains the permeable through hole that 0.2 to 1 diameter is 0.6 to 1 millimeter. The external diameter size range of the clean cloth cylinder 38 of cloth water 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 wire, Stainless Steel Wire, Vegetable Sponge of Luffa, weaving material, hairbrush and combination thereof. The preferred size of cloth water clean cloth cylinder 38 comprises: middle central siphon 42 external diameter 27 millimeters; The stiffening web of wall thickness 0.4 millimeter, surface band some roll extrusion indents and closed at both ends; The external diameter of water distributor 43 31 millimeters; Wall thickness 0.5 millimeter; The thickness of clean cloth material 44 5 millimeters. Cloth water clean cloth cylinder 38 head and the tail two ends respectively adopt a revolute pair mechanism and a drum driven mechanism to be connected with substrate 27. Cloth water clean cloth cylinder 38 can forward and reverse rotate. When the rate of advance of cleaning module 18 is 1 meter/second, by rotating, the velocity range brought is 0.1 to 2 meter/second to cloth water clean cloth cylinder 38 surface each point. During the clean cloth cylinder 38 of cloth water surperficial employing cluster cluster hairbrush, arranging each bunch of hairbrush according to one or more spiral-line 46 pattern, height dimension is greater than 15 millimeters. Cloth water clean cloth cylinder 38 adopts each bunch of hairbrush that spiral-line 46 pattern arranges, coordinates the attribute with spiral conveyer with dust scraping plate or Wiper blade, can make dust and water fast toward designated parties to, comprise the direction low to position and move. Cloth water clean cloth cylinder 38 sense of rotation comprise bottom towards or away from scraper plate, select according to field condition.

Electric line carrier communication module 35; Electronic wheels 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 signal by data bus 54; The state of electric line carrier communication module, electronic wheels, cleaning module, power supply and photovoltaic module is changed according to the change of computer control system governor circuit 56 state.

The clean robot principle of work of embodiment 1: computer control system obtains the overall information about photovoltaic module 2 according to camera 23 and comprises: whether the data whether, photovoltaic module 2 whether damaged from the distance of photovoltaic module 2, photovoltaic module 2 has obvious dirt foreign material and hot spot, the currently state of photovoltaic module 2 to comprise the seam between the photovoltaic module with adjacent front and clearance conditions and database purchase above have obvious difference. Situation is normal, then drive cleaning module 18 to move ahead, photovoltaic module 2 surface is carried out rooting out by shovel board, long mouth dust absorption nozzle 36 draws photovoltaic module 2 surface dirt, cloth water clean cloth cylinder 38 is at photovoltaic module 2 surface cloth water and rotate scouring, long mouth water absorbing nozzle 39 draw the water that Wiper blade 41 is collected in photovoltaic module 2 surface; Situation is abnormal, then wait back-office support by communication module report. The dimensional data that camera sometimes can not exceed than current photovoltaic module with enough tolerance range offer front photovoltaic module, this may cause equipment to the shock of photovoltaic module 2. Adopt responsive wheel 28, can at any time to the state of computer control system host report front photovoltaic module. When computer control system main frame judges to need to raise shovel board 34, raise shovel board 34 by shovel board screw body 48, and arrive after above next block photovoltaic module in shovel board 34, then adjust back shovel board 34 and make it normal operation.

Upper rail platform 4 comprises one piece of hard surface; In order, rail platform 4 surface is to the maximum normal distance of track 3 upper surface, and electronic wheels 16 lower surface equaling electronic device takes turns the vertical range of lower surface to ground. The right on of track 3 can be arrived with the general photovoltaic robot of ground wheel and electronic wheels 16 under machine vision helps, and directly can reach track 3 from upper rail platform 4 or drive off upper rail platform 4 from track 3. After the cleaning row's photovoltaic module of light volt clean robot, drive off track 3 and its ground wheel steadily rolls with upper rail platform 4 and is connected. Then drive towards next row photovoltaic module 2, comprise traveling of turning round. The process of the upper and lower track of robot cleaner for photovoltaic module comprises: robot cleaner for photovoltaic module is landed on upper rail platform 4 from track 3, directly drive towards the photovoltaic module on opposite, or take turns turning device 19 by ground and rotate ground wheels 90 degree one by one, then next row photovoltaic module 2 is driven towards straight, traveling limit, limit provides self-position by machine vision camera 23, the range data to next row photovoltaic module 2 of database storage wherein can also be utilized to instruct and travel. Under the supervision of camera 23, robot cleaner for photovoltaic module reaches the upper rail platform 4 of next row photovoltaic module 2, again take turns turning device 19 by ground and turn round ground wheels 90 degree reset one by one, under camera monitors, progressively close to track 3 and by the real-time continuous calibration of ground wheel turning device 19, until reaching track 3. In addition, during the traveling of upper rail platform 4. Robot cleaner for photovoltaic module can also drive to next row photovoltaic module place by the mode turned round according to semicircular arc track and reach track. The power supply of robot cleaner for photovoltaic module and frame comprises and is obtained by current collector from transmit electricity bus such as track of track-like and carry store battery.

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

Embodiment 1 automatic cleaning parts can also change like this: 1) only by shovel board 34 for removing accumulated snow; 2) only adopt long mouth dust absorption nozzle 36 and dust scraping plate 37 for dry cleaning; Dry cleaning can also configure a hair-dryer before long mouth dust absorption nozzle 36; The air port that goes out of hair-dryer comprises and grows air port and the uniform round carefully going out air port; 3) only lengthening mouth water absorbing nozzle 39 with Wiper blade 37 or Wiper blade 37 drives towards cleaning: 4) shovel board 34 increases mobile hair-dryer blowing mouth and/or suction port of suction cleaner along shovel board 34 cutting edge above and computerizeds control; Power required for the hair-dryer moved along shovel board 34 cutting edge and/or suction port of suction cleaner is much smaller than long mouth blowing mouth or long mouth suction nozzle; 5) spiral conveyer and collection snow container is adopted, by on-the-spot for collection snow carrying; 6) omit responsive wheel 28 below or omit all sensitivity wheels 28; 7) existing technology is adopted to comprise window cleaner.

Hair-dryer comprises and blows dirt, blows dirt and blowing snow parts, usual hair-dryer and dust suction, inhales dirty and inhales snow parts and coordinate; Blow dirt, blow dirt and dust, dirt and accumulated snow are blown afloat by blowing snow parts, be convenient to by dust suction, inhale dirty and inhale snow parts and siphon away;

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

The track 3 of embodiment 1 can also be externally open, makes outside electronic device obtain electric energy by supporting current collector.

The track 3 of embodiment 1 can not also be connected with power supply 25 but in addition other power supplys of configuration comprise power accumulator and carry out work. Now, track 3 also need not be connected with power supply without the need to insulating mounting.

Embodiment 1 is also applicable to the upgrading of existing photovoltaic generating system, comprises and arranges track 3 and run various light volt specific equipment on the track 3.

Fig. 8-10 provides embodiment 2.

Photovoltaic module 2, power transmission and transformation device and the computer control system that in embodiment 2, photovoltaic generating system comprises stand 1, dotted line marks. Cushion block 57 is set in the both sides of photovoltaic generating system and is installed by insulation supporting parts 6 on cushion block 57 and connect one group of two parallel steel tube track 3. At least one track 3 is connected and installed with extraneous electric insulation; Two electrodes electrical connections of one group of two track 3 and power supply; Cleaning module 18 obtains electric energy by track 3. Coordinate the two groups of electronic wheels 16 being connected of rolling to be connected as one by great-leap-forward frame 17 with track 3, uniform some windlasss 61 above frame 17, windlass 61 hang down cable 58 involve below cleaning module 18. Content about cleaning module can described in reference example 1.

Frame 17 and cleaning module 18 adopt cable 58 to involve and frame 17 and cleaning module 18 advanced in unison, when cleaning module 18 crosses over the gap of adjacent photovoltaic assembly 2, frame 17 utilizes cable 58 to mention cleaning module 18 and put down after cleaning module 18 spends gap again. Transmission line 60 is affiliated on upper methods, rack 17. Involving of cable 58 comprises direct dilatory cleaning module or only provides electric power to cleaning module and allow cleaning module electrical component driving wheel group drive; In addition, it is responsible for providing the electronic device of electric power can also be that namely the electronic device of wheelbar-row type does not adopt cross-over connection frame to cleaning module 18.

The electrical component driving wheel group 62 of cleaning module 18 coordinates with the frame 59 of photovoltaic module 2 cooperation realizing both to roll and is connected; And rely on electrical component driving wheel group 62 to drive and run; Electrical component driving wheel group 62 comprises front wheel 63 and side wheel 64; Front wheel 63 rolls with the frame 59 in photovoltaic module 2 front and is connected; Side wheel 64 rolls with the frame 59 of photovoltaic module 2 side and is connected; Front wheel 63 and side wheel 64 all can as driving wheels; Side wheel 64 is also for retraining the locus of cleaning module 18. In Fig. 9 dotted line circle partial cutaway show display roller or ball from above and the frame 59 of side and photovoltaic module 2 coordinate and do rolling and be connected. Frame 59 comprises shaped metal frame; Computer control system changes the spatiality of cleaning module 18 by changing windlass 61 and cable 58, makes it the spatiality with photovoltaic module 2 and adapts and fit on photovoltaic module 2.

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

In embodiment 2, each piece in two pieces of photovoltaic modulies 2 respectively uses a cleaning module 18. One piece of photovoltaic module 2 can also be adopted to adopt the polylith photovoltaic module 2 of multiple cleaning module 18 or a neighbouring layout of row to use the mode of a cleaning module 18. As described on the right of Figure 10, a moving sets mechanism 65 being slidably connected with frame 17 and move around along frame about 17 can also be adopted, and connects a horizontal cleaning module 18 put by moving sets mechanism 65, photovoltaic module 2 is cleaned. The advantage of embodiment 2 comprises: install not bery neat existing system for photovoltaic module, it is possible to horizontal position and the inclination angle that need not repeatedly adjust cleaning module just can realize cleaning photovoltaic module.

When gap is relatively greatly for example more than 50 millimeters between adjacent photovoltaic assembly 2, crane span structure 66 is set between described adjacent photovoltaic assembly 2. Crane span structure 66 realizes the smooth connection between the bigger adjacent photovoltaic assembly 2 of gap between them, and the electrical component driving wheel group 62 making cleaning module 18 can be crossed over described gap and steadily run between described adjacent photovoltaic assembly 2.

In embodiment 2, it is also possible to make cleaning module 18 be connected with substrate 27 by a plane revolute pair mechanism 67 so that cleaning module 18 can rotate as shown in Figure 10 dotted line, and clean under rotating an angle state in the clockwise direction. For not Rimless photovoltaic module, this kind of design has the advantage facilitating the easy landing downwards of dust or washing water. Can also adopt and between cleaning module 18 with substrate 27, adopt fixing corner to be connected.

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

The cushion block 57 of embodiment 2 can also change base stake 8 into. Base stake is insensitive to the unfairness 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 travelled on round steel pipe track 3, the outside surface of its wheel hub can be a ring-type semicircle groove matched with the track 3 being connected joined together. The wheel that can also adopt other tracks and adapt with it.

Figure 11 provides embodiment 3.

In embodiment 3, manufacture in a magnetic roller brush figure shown in dotted line circle, as current collector, comprise brush 24 and at least one magnetic roller 70. Magnetic roller 70 is arranged at the front side of brush 24 and/or rear side. Magnetic roller brush is connected with shaped steel track-like transmission of electricity bus 72 slides/rolls and is electrically connected. Track-like transmission of electricity bus 72 is the cross bar of the light volt system rack that is connected with column 7 insulation by insulating material 68, makes with paramagnetic material. Track-like transmission of electricity bus 72 can be electrically connected with the electrode of a power supply. Magnetic roller 70 is set in the front side of brush 24 and/or rear side, contributes to preventing and slow down brush 24 beating in motion and keep good operating mode. A dw can also be set for current collector, keep brush and magnetic roller to clean; At the cleaning brush of the front and back of current collector configuration, the cleaning brush of outside configuration of dw can also be included in.

Figure 12 Figure 11 provides embodiment 4 jointly.

Embodiment 4, manufactures a light volt 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 material 68 insulation with column. Lower two surfaces are manufactured with two chutes on the track 3, and ball or roller slide block 71 for lying prostrate inspecting robot with light coordinate to roll and be connected. Ball or roller slide block 71 are connected with frame 17. Light volt inspecting robot adopts the electronic wheels 16 being connected with the rolling of shaped steel track 3 side to drive; And adopt two current collector magnetic roller brushes 5 to be electrically connected with shaped steel track 3 and banded track-like transmission of electricity bus 72 respectively and realize power taking with forming circuit loop. Banded track-like 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, adopting the shaped steel track 3 being connected with column 7 by insulating material 68, shaped steel track 3 is connected with power sourced electric. Embedded electronic wheels 16 are embedded in shaped steel track 3 inside; Electronic wheels 16 are connected with frame 17. And adopt the electronic wheels of current collector and/or brush and shaped steel track 3 electrical connection to realize power taking.

The embedded electronic wheels 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 an electronic device of wheelbar-row type, for making an inspection tour photovoltaic module. The embedded electronic wheels 16 of the ball of embodiment 3 or roller slide block 71 and embodiment 5 can also manufacture about two tracks arranged and be connected to form circuit loop with power supply, make more compact structure without cross connection type frame like this.

The electronic device of wheelbar-row type, is electrically connected with its transmission line and cleaning module 18, it is possible to realizes cleaning module 18 and without frame or is not connected with frame 17. Specifically being included on two metal tracks and arrange current collector respectively, current collector comprises the electronic wheels of the electronic device of wheelbar-row type or/and brush; Power taking always becomes and is electrically connected cleaning module by transmission line; Power taking always become independent from row cutting and with cleaning module synchronous operation; Power supply, two metal tracks, power taking always become, the electricity consumption load of transmission line and cleaning module forms an electric loop; Realize the cleaning module 18 in motion to be connected with the power sourced electric of fixed installation.

Different from the round steel track connected by insulation supporting parts, the mode of connection of embodiment 3 and embodiment 5 track more freely comprises from being connected with basis above; The track of embodiment 3 and embodiment 5 can also be arranged symmetrically with to comprise and be arranged symmetrically with by reference plane mirror image of the vertical ymmetry center plane of column 7 or insulating material 68 by mirror image. Do like this and two linkage interfaces with electronic wheels can be provided simultaneously. Its purposes comprises face, the photovoltaic green-house sky lower railway that making is introduced below.

Figure 14 provides embodiment 6.

In embodiment 6, photovoltaic module 2 top frame 59 towards above and/or outer side adopt insulation mode to connect to be included on frame 59 bonding one layer of insulating material and a bonding tinsel or metal section bar 74 on the insulating material, double do track and noble potential track-like transmission of electricity bus, namely tinsel or metal section bar 74 both had closed to roll with the electrical component driving wheel assembly of electronic device and be connected, and were electrically connected with current collector again. By the described noble potential of whole row's photovoltaic module 2 electrical connection interface electrical connection again with the Electrode connection of power supply; Again other parts of frame 59 are also electrically connected and another electrode with power supply is electrically connected.

Cleaning module adopts electrical component driving wheel group to travel on the tinsel or metal section bar 74 of photovoltaic module 2; Electrical component driving wheel group comprises front wheel 63 and side wheel 64; Cleaning module can also adopt the upper/lower terminal electrical component driving wheel group of symmetric design and noble potential track-like transmission of electricity bus and frame 59 be connected and be electrically connected.

In embodiment 6, the top frame 59 of photovoltaic module 2 adopts a tinsel or metal section bar that insulation mode connects, can also directly be bonded on the sheet glass of the two-sided photovoltaic module of two glass of Rimless, need to connect two tinsels or metal section bar, to form a circuit loop.

In conjunction with the embodiments 6, embodiment 2 can also change like this: does not use track and electronic wheels, but the electronic device directly adopting common electric device to comprise band photovoltaic module clean facilities lies prostrate the road traveling of system for field at light, at this moment, adopt the tinsel described in embodiment 6 or metal section bar 74 track-like transmission of electricity bus to obtain the electric energy required for relevant electronic device.

Figure 15 and 16 provides embodiment 7 jointly.

Prior art is installed photovoltaic battery panel at color steel tile roof and is usually retained artificial inspection gallery. Adopt the utility model can build overall sun field, continuous print roof. Compared with steel watt color with individual layer, on color steel watt overall continuous print photovoltaic battery panel in summer owing to shading thoroughly and has Stilt layer, can reduce at most by 3 kilowatt-hour sun power inputs every day every square metre, if workshop onsite application air-conditioning, can save at most 1.1 kilowatt-hour air-conditionings for every square metre can; Night in winter can reduce room temperature lowering 3 to 10 DEG C owing to reducing radiation compared with steel watt color with individual layer. Between the long-span beams of color steel tile roof spacing big, mostly be arch unfairness and load-bearing load low, be not suitable for personnel and up and down but be applicable to weight and be no more than the Guang Fu robot construction of 20 kilograms and cleaning.

In embodiment 7, the photovoltaic generating system of belt track adopts angle steel horizontal frame array 76 to install. Space 79 installed by some the assemblies that the shaped steel 78 that framework array 76 comprises short column 77, cross section is T-shaped is formed, and each assembly is installed space 79 and comprised two sections of shaped steel being parallel to each other 78. Shaped steel 78 comprise a vertical edge 81 and one be connected the horizontal sides 82 stretched out to both sides with vertical edge. A photovoltaic module 2 is just put between the vertical edge of two sections of shaped steel being parallel to each other 78; 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. It is a spatial grid structure body 84 between the color steel tile roof 83 of photovoltaic module 2 and individual layer, for completing with the weight transfer between the overall photovoltaic module 2 installed continuously of distribution parameter form and unfairness and the long-span beams 85 arranged with concentrated parameter. Spatial grid structure body 84 comprise rack and that other are formed taking bar bar, pipe, plate as element, for the lightweight framework body of transmission of power. In the underface of photovoltaic module 2 four edges, water leg 86 is set, for receive from photovoltaic module aperture infiltration rainwater and these rainwater are discharged.

Drop down for convenience of the current above photovoltaic module 2, it is possible to the inclination angle of big planar band 0.5 to 10 degree that order is made up of some photovoltaic modulies 2; And make water leg 86 also be with 0.5 to 10 inclination angle spent.

For run general photovoltaic robot 87 and to general photovoltaic robot 87 power track 3 be connected with spatial grid structure body 84 by short column 77, track 3 slightly exceeds photovoltaic module 2; At least part of track 3 is installed with external insulation; Two adjacent tracks 3 are all used for general photovoltaic robot 87 electricity consumption load supplying such as grade with the Electrode connection of a power supply. General photovoltaic robot 87 comprises electronic wheels 16, cross connection type frame 17, plug-in mechanical arm 88, the windlass 61 being distributed in frame 17 and general photovoltaic robot control system. The cable that windlass 61 hangs down 58 times ends connect a vacuum suction pawl and always become 89, and vacuum is inhaled pawl and always become 89 to comprise some suckers. Vacuum is inhaled pawl and is always become the sucker of 89 to be connected with negative pressure source, it is possible to the object that the sheet glass of absorption or release photovoltaic module 2 is smooth like this.

The Auto-mounting process of embodiment 7 photovoltaic module 2: scene scanned the data required for obtaining construction and installation with scanning device, designs and produces and install frame structure 84, track 3 and the passage 91 that switches tracks, and invertor and transmission line are installed, frame structure 84 arrange electrical outlets 15 and connects wire; Then with general photovoltaic robot 87, photovoltaic module 2 vacuum being inhaled pawl always becomes 89 to pick up and be transported to and install position, the output wire ends 30 of photovoltaic module 2 is inserted electrical outlets 15 with plug-in mechanical arm 88 and is exported normal when also inspection is subject to illumination by being included in described photovoltaic module 2 by general photovoltaic robot 87, puts down the specified location of photovoltaic module 2 to framework array 76. So continue to repeat until installing. Mobile traveling when the passage 91 that switches tracks departs from track 3 for general photovoltaic robot 87.

The color steel tile roof 83 of individual layer changes face, concrete sky into, it is possible to without spatial grid structure body 84, but is directly connected with basis with short column 77 by the framework array 76 of carrying photovoltaic module 2. The part that in Figure 16, parallel diagonal lines indicates is that space 79 installed by skylight, partial enlargement describing framework array 76, shaped steel 78 and assembly. Can ground connection be used for lightning-arrest when the track 3 of embodiment 7 is flat.

Ground adult is many in China, but per capita cultivated land is on the low side. Northern China, sunny, day and night temperature is big, and this is the favourable condition producing high-quality agricultural-food. But the many local lacks of water of northern China, frostless season are short, the desert and semidesert in some place not water and permeable serious or farming, life condition harsh cause local agricultural workforce to lack, also some local underground water arsenic content height because stone is not suitable for more. Should implementing in 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 between column stand 1, photovoltaic module 2, general photovoltaic robot 87, row agricultural robot 93 in agricultural robot 92 and stand. Big dotted line circle is the amplification to little dotted line circle place: connect the opening tubular slide rail 94 comprising and manufacturing with laser welding aluminium section bar on photovoltaic component frame 59. Opening tubular slide rail 94 can be made up of the pipeline of a bandwidth seam, with linkage interface. And make and coordinate the embedded type slide block 95 being slidably connected with opening tubular slide rail 94. 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 with general photovoltaic robot 87 and make the uniform embedded type slide block 95 being connected to plastic sheeting for farm use 96 both sides embed in the opening tubular slide rail 94 being connected on front and rear row photovoltaic component frame; Plastic sheeting for farm use 96 is made to form a closed face, photovoltaic green-house sky together with photovoltaic module 2; At the periphery seamless link photovoltaic green-house facade in face, described photovoltaic green-house sky, form the photovoltaic green-house 97 that photovoltaic module is worn in a sky.

More than two opening tubular slide rails 94 can also be adopted to arrange more than two layers plastic sheeting for farm uses. Opening tubular slide rail 94 and embedded type slide block 95 can also be done accommodation, comprise and adopt convex bar formula slide rail and coordinate the opening tubular slide block being slidably connected with convex bar formula slide rail. Described various slide block also comprises the slide block of band ball. The design of these slide rails and slide block can with reference to prior art.

Some through holes are made in opening tubular slide rail 94 bottom, and on partially embedded slide block 95, make the internal thread hole concentric with described perforate, when general photovoltaic robot 87 pull be connected with plastic sheeting for farm use 96 and during with the through hole of opening tubular slide rail 94 of slide block 95 to the specified location of internal thread hole, and being connected through described through hole with described internal thread hole with a set screw, namely lockable slider 95 and plastic sheeting for farm use 96 are not blown away. Later weather gets warm again after a cold spell, and revolves lower set screw and can recall plastic sheeting for farm use and be wound on once again on described plastic sheeting for farm use reel. With reason, plastic sheeting for farm use 96 is changed into the sunshade net that both sides are connected with embedded jump ring 95, it is possible to realize sunshade in summer.

Be in below the aluminum section of photovoltaic component frame of relatively lower position arrange or integral production one section of water leg 86 collect rainwater; Photovoltaic module separately or can share one section of water leg 86. Two end band end caps of water leg 86; The bottom of water leg 86 is provided with water vent; The water vent of water leg 86 is connected with remittance water pipe 99 by downcomer 98. Water leg 86 is connected with a remittance water pipe 99 by downcomer 98. Converge water pipe 99 by rainwater catchment to appointed place. The water pipe 99 that converges double can be made track or double make track and track-like transmission of electricity bus runs electronic device and the part in loop as connection power supply.

The uniform some water vents in the position of plastic sheeting for farm use 96 directly over water leg 86; Water vent diameter 1 to 10 millimeter. In use plastic sheeting for farm use period, the rainwater in photovoltaic green-house 97 days faces enters water leg 86 by water vent and removes.

Not using 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, two cover tracks are adopted to comprise the track done and respectively by converging water pipe 99 and the film lower railway that formed with stand 1 column 7 by the track 3 that is connected of supporting parts that insulate of holding concurrently as previously mentioned by the upper and lower frame of photovoltaic module altogether. During using film, the double track done of frame 59 still can run general photovoltaic robot 87 and for patrolling and examining and clean. Film lower railway then can the agricultural robot of agricultural robot 92 operation between two row's stands 1 between the row of operation. The agricultural robot computer control system between operation module 102, mechanical arm type current collector 73 and row that the track girder 101 that between row, agricultural robot 92 comprises front and rear row ground wheels 21, chassis is connected with chassis is connected with track girder 101. Operation module 102 comprises various module, sowing module, rice transplanting module, rice shoot module and harvesting module. Operation module can directly be obtained by the sowing being installed on existing agricultural machine equipment, rice transplanting, rice shoot and harvesting plant modification, specifically can with reference to prior art. Operation module 102 can be fixed on track girder 101 operation or the limit operation that ceaselessly moves around whole track girder 101 top. Mechanical arm current collector 73 is kept and the electrical connection of track-like transmission of electricity bus by mechanical arm in traveling.

Between row agricultural robot 92 carrying out farmland capital construction, arable land, harvesting be use ground wheels 21; And when carrying out the plant protection operations such as fertilising can also without ground wheels 21 but adopt and the electronic wheels that track 3 and remittance water pipe 99 coordinate.

Overhead line 103 is also set in column stand 1 inside and runs in stand agricultural robot 93 at the agricultural robot of stand 1 inside processing. Operation module 102, pantograph 104 and the ground connection roller 105 that the track girder 101 that in stand, agricultural robot 93 comprises ground wheels 21, chassis is connected with chassis is connected with track girder 101. Ground connection roller 105 adopts low electrical resistant material such as metal to make, for low resistance earthing. In stand, agricultural robot 93 is by pantograph 104 and overhead line 103 slip electrical connection power taking, and is connected with power sourced electric by ground connection roller 105 and the earth. Column stand 1 does not block the traveling of agricultural robot 93 in stand.

For the single-column stand described in Fig. 8, it is not necessary in stand, agricultural robot 93 can complete whole farming.

Embodiment 8, the agricultural robot that employing intelligence degree is high substitutes in a large number manually, utilizes the plastic sheeting for farm use being connected with photovoltaic module to extend frostless season, utilizes photovoltaic module to collect rainwater and cleaning storage; It is expected to extenuate that desert and semidesert area agricultural workforce's shortage, lack of water, frostless season be short and the problem of power supply. It is expected implementing while photovoltaic generation, builds 100,000,000 mu of facility farmlands and replace at least 0.5 hundred million mu, east farmland for building forest and improve ecological condition and/or be Economic development offer soil.

The many local rain hotsyncs of northern China, the annual rainfall of summer rice plantation phase is to more than 150 millimeters, if the photovoltaic module of the photovoltaic generating system near utilizing is collected rainwater and is suitably stored, in actual efficiency 50%, the rice field of area same with rainwater collection photovoltaic generating system then can be made to be increased to 210 millimeters in the feedwater ability of Period of paddy planting, it is possible to the paddy rice meeting quantity of precipitation 210 millimeters plants minimum requirement. The photovoltaic generating system of the belt track that rainwater is collected is installed in desert and semidesert area, can while implementing photovoltaic generation, build a large amount of facility farmland, it is included in desert and adopts geotextile to form the facility farmland planting block and use planting soil to build in plantation block. For photovoltaic generation operation enterprise, not only need not pay farmland reimbursement for expenses, it is also possible to obtain the construction subsidy of facility farmland, be conducive to the popularization that sun power generates electricity.

The glass photovoltaic green-house on band pinnacle can also be built and track is set inside and outside glass photovoltaic green-house and comprises the double track making track-like transmission of electricity bus, run general photovoltaic robot in orbit, comprise the robot that face, glass photovoltaic green-house sky and facade internal surface are carried out wiped clean. By the condensed water in lasting face, wiping sky and facade interior surface, it is possible to effectively improve face, sky facade winter the actual transmitance of sunlight, improve the existing booth low light level, low temperature, the high situation wet. And likely realize under light tight photovoltaic cell situation is arranged in face, sky 50%, still obtain and do not carry out the identical illumination of internal surface wiping and planting effect with common.

Figure 18 to 20 provides embodiment 9 jointly.

In embodiment 9, the photovoltaic generating system of belt track is the photovoltaic green-house of pinnacle glass more than one 97, comprises Steel Structure 107, facade 108, the face, sky, pinnacle of band photovoltaic module and photovoltaic green-house computer control system. The Steel Structure 107 with photovoltaic green-house of light volt system rack is combined; Face, sky, pinnacle comprises towards south domatic 109 and be exposed to the north domatic 111; Inner and/or outer setting track 3 and the track that switches tracks at photovoltaic green-house 97; Track 3 be arranged at that face, sky, pinnacle is upper and lower and facade 108 medial and lateral or with Steel Structure 107 integral production; Track 3 comprises the double track made track-like transmission of electricity bus and be connected with power sourced electric can with reference to foregoing teachings. The pattern of track 3 comprises the pattern of Figure 11 and Figure 12 embodiment, it is also possible to two track 3 mirror image symmetries as described in Figure 11 or Figure 12 combined, and its both sides of the track after merging can be connected with two groups of Electric Motor Wheel groups simultaneously. Travel general photovoltaic robot 87 on the track 3 and comprise automatic cleaning robot.

In order to realize the transfer of general photovoltaic robot 87 between front and rear row track 3, adopt Steel Structure 107 and switch tracks robot switching tracks track runs. The track that switches tracks switches tracks under comprising switch tracks on day face track 112 and face, sky track 113; The track 112 that switches tracks on it face is arranged at the side of photovoltaic green-house 97, comprises the one group two double tracks making track-like transmission of electricity bus. Travel on that the robot 114 that switches tracks on the face, sky on the upside of day face comprises electronic wheels that chassis is connected with chassis, steering base 116, two refute integrate with 117 and with refute 117 struts being connected 118 that integrate with. Steering base 116 is connected with chassis by a vertical revolute pair mechanism and a rotating drive mechanism; Refute integrate with 117 attribute identical with track 3 comprise electronic wheels 16 with general photovoltaic robot 87 and roll and be connected, transmit the gravity of general photovoltaic robot 87 and provide the electrical connection with power supply to general photovoltaic robot 87. Strut 118 can also be made for adjustable support rod. General photovoltaic robot 87 on it face directly can drive to the robot 114 that switches tracks on the face, sky docked with it from the track 3 face, sky and refute and integrate with on 117 or drive on track 3 117 from refuting to integrate with. Refuting integrates with loads the robot 114 that switches tracks on the face, sky of general photovoltaic robot 87 track 112 that can switch tracks along face, sky on 117 and travels and make it refute to integrate with and 117 same with on face, sky dock towards another domatic group two tracks 3, so that its general photovoltaic robot 87 loaded can directly drive on the track 3 docked with it.

Switch tracks on it face the steering base 116 of robot 114 different switching tracks towards track 3 between domatic on face, sky. When general photovoltaic robot 87 needs to be transposed to domatic towards south 109 from plane 111 of being exposed to the north, robot 114 that face, sky switches tracks utilizes steering base 116 that general photovoltaic robot 87 is turned to 180 degree in traveling way.

When strut 118 is adjustable support rod, it is also possible to by described adjustment strut regulate refute integrate with 117 state and without steering base 116. Present dynasty south domatic 109 from be exposed to the north domatic 111 track 3 fabric width different time, it is necessary to configuration can regulate the robot 114 that switches tracks on the face, sky refuting 87 fabric widths that integrate with.

Arrange the design of the built on stilts track 112 that switches tracks as Figure 19 in track 3 side, for having, the light volt system in accumulated snow area is very useful; For building, the light volt system at the water surface is also very useful.

It is inner that the track 113 that switches tracks under it face is arranged at photovoltaic green-house 97, and the robot 119 that switches tracks under the face, sky on track 113 that switches tracks under travelling on day face comprises electronic wheels that chassis is connected with chassis, electric expansion mechanical arm 121 and two refute and integrate with 117. Electric expansion mechanical arm 121 is connected with chassis by sphere vice mechanism or revolute pair mechanism; Electric expansion mechanical arm 121 adopts electronic screw mandrel or hydraulic air lever to make, for regulate refute integrate with 117 spatiality. Refute integrate with 117 attribute identical with track 3 comprise electronic wheels 16 with general photovoltaic robot 87 and roll and be connected, transmit the gravity of general photovoltaic robot 87 and provide the electrical connection with power supply to general photovoltaic robot 87. Refute integrate with 117 state can adjust to and integrate with any one group of two track 3 under face, sky. The robot 119 that can switch tracks under directly driving to the face, sky docked with it from track 3 of general photovoltaic robot 87 under it face refutes and integrates with 117 or drive on track 3 117 from refuting to integrate with. Robot 119 figure of first being lowerd that switches tracks under refuting the face, sky integrating with and loading general photovoltaic robot 87 on 117 avoids towards south domatic 109 obstructions being exposed to the north domatic 111 bottoms, then the track 113 that switches tracks under face, sky travels, its general photovoltaic robot 87 loaded recovers figure by electric expansion mechanical arm 121 again after putting in place and makes it refute to integrate with and 117 same with under face, sky dock towards another row's track 3 domatic, so that can directly drive to the track 3 docked.

The robot 119 that switches tracks under it face completes general photovoltaic robot 87 and turns to towards domatic in difference, it is possible to directly realize when putting down figure and recover figure. Certainly require that the relevant parts of general photovoltaic robot 87 comprise cleaning module 18 exchange of self two ends is insensitive. Present dynasty south domatic 109 from be exposed to the north domatic 111 track 3 fabric width different time, it is necessary to configuration switches tracks robot 119 under can regulating the face, sky refuting 117 fabric widths that integrate with.

Facade 108 medial and lateral of photovoltaic green-house 97 arrange one group two interior facade tracks 122 and alien invasion track 123 respectively; Interior facade track 122 and alien invasion track 123 have track and the attribute of track-like transmission of electricity bus, comprise the rolling of the electronic wheels with general photovoltaic robot 87 and coordinate, transmit the gravity of general photovoltaic robot 87 and provide the electrical connection with power supply to general photovoltaic robot; Interior facade track 122 and alien invasion track 123 travel general photovoltaic robot 87 above. 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 travelled thereon also do corresponding change.

Inside each turning that adjacent facade 108 in photovoltaic green-house 97 intersects, it is provided with a vertically interior rotating shaft 124, rotating shaft 124 connects in vertically one section of interior transition 126 docked with the interior facade track 122 of adjacent two facades; In vertically, the interior transition 126 in rotating shaft 124 turns to facade track 123 place in which, described interior transition 126 just can realize facade track 123 interior with this and dock, and the general photovoltaic robot 87 inside facade 108 can sail to from interior facade track 122 in docking with it and go through transition 126; Or sail to interior facade track 122 from interior transition 126.

Outside each turning that adjacent facade 108 outside photovoltaic green-house 97 intersects, it is provided with a vertical outer shaft 127, vertical outer shaft 127 connects one section of outer transition 128 docked with the alien invasion track 123 of adjacent two facades 108; Which alien invasion track 123 place outer transition 128 on vertical outer shaft 127 turns to, described outer transition 128 just can realize docking with this alien invasion track 123, and the general photovoltaic robot 87 outside facade 108 can sail to the outer transition 128 docked with it from alien invasion track 123; Or sail on alien invasion 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 alien invasion track 123.

It is exposed to the north and domatic 111 can also comprise rotatable glass plate 129; Rotatable glass plate 129 is connected with basis by a sheet glass inclination-angle regulating device 131. By sheet glass inclination-angle regulating device 131 it is achieved that 1) close rotatable glass plate 129 transparent heat insulating and facilitate general photovoltaic robot cleaner; 2) rotatable glass plate 129 ventilation cooling is opened; 3) utilizing the luminous reflectance effect of rotatable glass plate 129 to be reflexed to by sunlight towards photovoltaic cell below the domatic pair of two-sided photovoltaic module of glass in south or arranges towards south after being reflexed to by sunlight domatic with row. Can also inside rotatable glass plate 129 or outer surface mirror surface is set to strengthen luminous reflectance effect. 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 comprises electronic wheels, track-like transmission of electricity bus, beam of driving a vehicle rolls the windlass being connected and driving computer control system with driving beam. The some cables hung down from windlass; Cable connects the linkage interface of a blower assy 133 separately; The state of blower assy 133 changes according to the state change of driving computer control system main frame. Driving 132 belongs to electronic device, and its Electric Motor Wheel group coordinates to roll with the track at pinnacle, face place, adjacent two skies respectively and connects. Driving beam is provided with and the linkage interface that the robot 114 that changes gear on face, sky is connected, it is possible to by described linkage interface, robot 114 is connected with changing gear on face, sky.

When photovoltaic green-house 97 days areas are avenged, and it is exposed to the north on domatic 111 to move around, blown off by accumulated snow towards south domatic 109 with blower assy 133. The state of blower assy 133 sets as required.

Carry out photovoltaic green-house inside scalding farm crop under cleaning removal water smoke avoids condensing water droplet, adopting toughened glass can resist hail, therefore can build flat-top photovoltaic green-house. Compared with pinnacle, flat-top booth reduces face, sky area and cost, minimizing heat radiation area; In order to the draining of face, sky is smooth, it is possible to make sky wear the inclination angle of 1 to 14 ��. Flat-top photovoltaic green-house is to towards insensitive.

Figure 21 and Figure 22 provides embodiment 10 jointly.

Embodiment 10, builds flat-top glass photovoltaic green-house 97, and except face, flat-top sky 134, all the other contents can refer to embodiment 9. Two two-sided photovoltaic module 2 of glass can be arranged according to the density of 30-80% in face, flat-top sky.

Face, flat-top sky 134 arranges one group two moveable tracks, 3, two tracks 3 relatively fix and use two wireline cables 58 to be in transmission connection with 4 windlasss 61 altogether being arranged at two ends, face, flat-top sky. General photovoltaic robot 87 runs on the track 3, superposition track 3 operation back and forth from left to right on face, flat-top sky 134, it is possible to realize general photovoltaic robot 87 operation on face, whole flat-top sky 134.

Side, face 134, flat sky settle a woven wire reel 136; Woven wire reel 136 is coiling steel wire net 137 above; The forward position of woven wire adopts bar 135 of taking the lead to involve. In another side in face, flat sky 134, two woven wire windlasss 138 are set; Woven wire windlass 138 is in transmission connection by cable and woven wire 137; Woven wire windlass 138 and woven wire reel 136 link, it is possible to be covered with uniform and parallel steel wire or Woven Steel Fabric 137 on face, whole flat-top sky 134; Wherein the diameter of steel wire is according to actual selection, its preferable range scope 0.3 to 0.6 millimeter; Spacing between adjacent wires preferably 8 to 11 millimeters; The aperture of braided steel wire mesh is preferentially worth the bead for diameter 9.9 millimeters and just passes through.

Figure 23,24 provides embodiment 11 jointly.

Embodiment 11, manufactures a slot light collection solar energy equipment, comprises slot-type optical collector 153, Columnating type solar element 154, follows the tracks of formula stand 1 and computer control system; Columnating type solar element 154 comprise middle Wen Jire please with condensation photovoltaic battery. Tracking formula 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. Track 3 runs general photovoltaic robot 87; General photovoltaic robot 87 comprises frame 17, electronic wheels 16, current collector, cleaning module 18, the cleaning arm assembly of element, water tank 156 and computer control system. Tracking device 139 and current collector and track 3 are electrically connected. The cleaning arm assembly of element comprises mechanical manipulator and element clearer 157; Element clearer 157 contains the shape matched with element 154 surface. By promoting, driving mechanism 32 is connected cleaning module 18 with frame 17; Promote the state that driving mechanism 32 adjusts cleaning module 18. Cleaning module 18 comprises long mouth dust absorption nozzle, cloth water clean cloth cylinder 38, long mouth water absorbing nozzle and Wiper blade, and its relevant content can reference example 1 and prior art. As different from Example 1, the part that slot-type optical collector 153 is to be cleaned comprises parabola minute surface; Therefore, the shape of described long mouth dust absorption nozzle, long mouth water absorbing nozzle and Wiper blade and the shape on described parabola minute surface surface match. The cloth water clean cloth cylinder 38 of wiping parabola minute surface comprises wooden club type cloth water clean cloth cylinder or is made up of the clean cloth cylinder of the cloth water of multiple segmentation, to implement whole minute surface to clean without difference.

Cleaning module 18 implement cleaning while, as required, computer control system make the manipulator behavior of element cleaning arm assembly that element clearer 157 is fitted that element 154 implements element 154 is cleaning.

The general photovoltaic robot 87 of embodiment 11 switch tracks facility and technology can realize with reference to preceding embodiment.

Figure 25 provides embodiment 12.

In embodiment 12, general photovoltaic robot comprises ground wheels 21, frame 17, current collector 73 and computer control system. Installing an overhead line 103 and a power supply connection on stand, current collector 73 is electrically connected by pantograph 104 and overhead line 103. Mounted more than one blower assy 133 and cleaning module 18 in frame 17 by cable 58 with windlass, at least blower assy 133 covers with a guard shield 158. Guard shield 158 is connected with a suction cleaner 159. The air port that goes out of blower assy 133 mounts some cloth flexible cables 160 and goes directly the glass pane surface of photovoltaic module 2. When general photovoltaic robot is connected by pantograph 104 and overhead line 103 and moves ahead along photovoltaic module 2, start blower assy 133. Cloth flexible cable 160 is waved as flag is in wind, it is achieved to the wiping of glass pane surface; Air in guard shield 158 is extracted out and is filtered rear discharge up to standard by suction cleaner 159. Meanwhile, (relevant content can with reference to previous embodiment) be cleaned on photovoltaic module 2 surface by cleaning module 18 further.

When removing the accumulated snow on photovoltaic module 2 surface, without guard shield 158, suction cleaner 159 and cleaning module. Under when cloth flexible cable 160 can clean, without cleaning module 18. Sometimes can also with flexible cable cloth 160 cleaning and without suction cleaner 159 and/or guard shield 158.

Claims (2)

1. a general photovoltaic robot, is characterized in that comprising frame, electronic wheels, power cell and computer control module; Electronic wheels coordinate to roll with more than one moving sets track and are connected; Special facility comprises cleaning module and camera; The most easy cleaning module comprises one piece of cleaning cloth or one piece of scraper plate; The electrical component driving wheel group that electronic wheels comprise the electronic wheels of the track travelling on track and travel on assembly; Electrical component driving wheel group comprises front wheel and side wheel; Front wheel is used for driving; Side wheel is used for location; Electrical component driving wheel group realizes cleaning module and is connected with the cooperation rolling of photovoltaic module; The electronic wheels of track and electrical component driving wheel group synchronous operation.

2., according to a kind of general photovoltaic robot according to claim 1, it is characterized in that also comprising ground wheel; Frame is connected with ground wheel by four ground wheel turning device.