CN205324217U - General photovoltaic robot - Google Patents

Abstract

The utility model provides a general photovoltaic robot, characterized by include frame, electric dynamic wheel group, receive electrical apparatus, special facilities and computer control module, electric dynamic wheel group on two metal tracks connects into as an organic wholely through cross -over connection formula frame, the special facilities includes cleaning module and camera, the special facilities is connected with the frame, electricity dynamic wheel group including travel on the track track electricity dynamic wheel group with subassembly electricity dynamic wheel group on the subassembly traveles, be connected by an electrical apparatus and a rail form transmission of electricity generating line, rail form transmission of electricity generating line is including electrically conductive track, rail form transmission of electricity generating line is connected with the electrode of power, power, rail form transmission of electricity generating line, receive that electrical apparatus and general photovoltaic robot's form an electric loop with the electric loading, supply general photovoltaic robot electric power continually. The special facilities is connected with the frame and is seemed compact, receive the influence of snow also little, and because obtain the electric energy from rail form transmission of electricity generating line to the powered storage battery volume weight that can significantly reduce and dispose.

Description

A kind of general photovoltaic robot

Technical field

This 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 already close to thermal power generation。But some photovoltaic generating systems do not have the problem that forethought photovoltaic module surface adopts machines clean when mounted；After, adopting artificial cleaning or the upper and lower photovoltaic module of a dead lift cleaning device, the big efficiency of labor intensity is low；Common vehicle-mounted photovoltaic clean robot is adopted to clean, the less effective when state of ground complexity；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 is to provide for a kind of general photovoltaic robot。

This utility model realizes the technical scheme of its purpose: manufacture a general photovoltaic robot, including 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 includes cleaning module and photographic head；The most easy cleaning module includes one piece of cleaning cloth or the windscreen wiper of one piece of scraper plate such as vehicle wiper；Special facilities is connected with frame；Electronic wheels include the electronic wheels of track travelling on track and the electronic wheels of assembly travelling on assembly；The electronic wheels of assembly include front wheel and side wheel；Front wheel is used for driving；Side wheel is used for positioning；The electronic wheels of assembly realize cleaning module and are connected with the cooperation rolling of photovoltaic module；The electronic wheels of track and the electronic wheels synchronous operation of assembly；

Current collector and a track-like transmission of electricity bus connect；Track-like transmission of electricity bus includes the track of conduction, bridges on the upside of the photovoltaic module of the shaft of multiple stand, metal cords or adjacent docking and external insulation and electrical communication and/or downside frame；The resistivity of track-like transmission of electricity bus is less than 0.2 ohm of millimeter 2/ meter；Track-like transmission of electricity bus is connected with the electrode of power supply；Current collector includes electronic wheels and brush；Electricity consumption load one electric loop of composition of power supply, track-like transmission of electricity bus, current collector and general photovoltaic robot；Supply general photovoltaic robot electric power continually。

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

Beneficial effect: special facilities is connected with frame and seems compact；Impact by accumulated snow is also little。

Accompanying drawing explanation

Fig. 1,2 it is utilize stand transmission of electricity track to run the side-looking of photovoltaic clean robot and backsight structural representation respectively。

Fig. 3 is the bottom view of a cleansing double sided module；Fig. 4 is that the O-O of Fig. 3 is to section view。

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, track-like transmission of electricity bus, current collector and electricity consumption load。

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

Fig. 8 is that a frame cable connects the structural representation of photovoltaic clean robot on assembly。

Fig. 9,10 to be photovoltaic clean robot respectively with photovoltaic module roll the side-looking being connected and face 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 photovoltaic inspecting robot。

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

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 a belt track being installed on color steel tile terrace。

Figure 16 is the upper TV structure schematic diagram that north-south monolayer color steel tile terrace installs the photovoltaic generating system of belt 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 volt booth of pinnacle glass light more than respectively and faces 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 the schematic diagram of a discontinuous layout of photovoltaic cell plate member doubling as photovoltaic green-house terrace。

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

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

1. stand 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. labelling；12,13. link；14. spanner groove；15. electrical outlets；16. electronic wheels；17. frame；18. cleaning module；19. ground wheel steering mechanism；20. magnetic attracting device；21. ground wheels；22. negative pressure source；23. photographic head；24. brush；25. power supply；26. use electric loading；27. substrate；28. sensitive wheel；29. water blocking device；30. output wire ends；31. substrate switching mechanism；32. lifting driving mechanism；33. riser；34. shovel board；35. PLC communication module；36. long mouth dust absorption nozzle；37. dust scraping plate；38. the clean cloth cylinder of water distribution；39. long mouth water absorbing nozzle；41. Wiper blade；42. central siphon；43. water distributor；44. clean cloth material；46. helix；47. air purifier；48. shovel board screw body；50. Electric Motor Wheel group interface circuit；51. cleaning module interface circuit；52. power interface circuit；53. photovoltaic module interface circuit；54. data/address bus；56. governor circuit；57. cushion block；58. cable；59. frame；60. power transmission line；61. hoist engine；62. the electronic wheels of assembly；63. front is taken turns；64. side is taken turns；65. moving sets mechanism；66. crane span structure；67. Plane Rotation vice mechanism；68. insulant；70. magnetic roller；71. ball or roller slide block；72. track-like transmission of electricity bus；73. current collector；74. sheet metal or shape；76. frame array；77. short column；78. shaped steel；79. installing space；81. vertical edge；82. horizontal sides；83. monolayer color steel tile roof；84. grid structure body；85. long-span beams；86. water leg；87. general photovoltaic robot；88. plug-in mechanical arm；89. vacuum inhales pawl assembly；The passage 91. switch tracks；92. agricultural robot between row；93. agricultural robot in stand；94. opening tubular slide rail；95. embedded type slide block；96. thin film；97. photovoltaic green-house；98. downpipe；99. collection pipe；101. track girder；102. operation module；103. aerial cable；104. pantograph；105. ground connection roller；107. Steel Structure；108. facade；109. it is domatic towards south；Domatic 111. be exposed to the north；The track 112. switch tracks on terrace；The track 113. switch tracks under terrace；The robot 114. switch tracks on terrace；116. steering base；117. docking track；118. strut；The robot 119. switch tracks under terrace；121. electric expansion mechanical arm；122. interior facade track；123. alien invasion track；124. rotating shaft in vertically；126. interior transition；127. vertically outer shaft；128. outer transition；129. rotatable glass plate；131. glass plate inclination-angle regulating device；132. driving；133. blower assy；134. flat-top terrace；The bar 135. take the lead；136. steel wire reel；137. steel wire；138. steel wire hoist engine；153. slot-type optical collector；154. element；156. water tank；157. element cleaner；158. guard shield；159. vacuum cleaner；160. cloth flexible cable。

Detailed description of the invention

Fig. 1 to 7 provides embodiment 1 jointly。

Embodiment 1, manufactures the photovoltaic generating system of a belt track, including stand 1, photovoltaic module 2, power transmission and transformation device, computer control system, one group of two parallel steel tube track 3, the electric device general photovoltaic robot run on track 3 and upper rail platform 4；Track 3 is connected with stand 1 by the supporting parts 6 that insulate；Track 3 arranged direction is parallel with stand 1 arragement direction。Stand 1 includes column 7, cross bar, diagonal brace, adnexa and foundation pile 8；The bottom of column 7 securing member connects armored concrete foundation pile 8。Photovoltaic module 2 is installed on stand 1；Photovoltaic module 2 is by exporting wire ends 30 and electrical outlets 15 and the electrical connection of power transmission and transformation device。Insulation supporting parts 6 is made with steel, containing an insulant watt between itself and track 3, it is achieved the electric insulation of track 3 and both stands 1。Insulation supporting parts 6, containing a magnetic circuit switching permanent magnet magnetic attracting device 20, connects track 3 for realizing further magnetic 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 labelling 11。Labelling 11 includes making by the black chromium labelling technique on stainless rule。A part in labelling 11 can also adopt bar code fashion, in order to loads more information at lane database in the future and includes relative position information and the model thereof of Water path valve。Labelling 11 includes being absorbed by photographic head and providing computer control system, precision accuracy error can provide photovoltaic module robot locus in the photovoltaic generating system of belt track less than 1 millimeter in real time, facilitate robot cleaner for photovoltaic module operation to include avoiding colliding with the frame on photovoltaic module 2。

It is socketed respectively at steel pipe 9 two ends and the female link of welded bands 12 and with externally threaded link 13；Respectively carrying spanner groove 14 on two links 12,13 coordinates spanner to connect。Some threaded lengthenings the in steel pipe 9 two ends constitute a root length track 3 and connect with water source as a water-supply-pipe。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 includes: track 3 can bear the load of more weight, connect and expanding with heat and contract with cold of track 3 is insensitive with basic without arranging in the middle part of track 3。

General photovoltaic robot includes electronic wheels 16, frame 17 and the special facilities cleaning module 18 being installed in frame 17；One group of two track 3 coordinates to roll with the two of photovoltaic clean robot groups of electronic wheels 16 respectively and is connected, and often organizes electronic wheels 16 and includes 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。

The frame 17 i.e. frame 17 of cleaning module 18 installed above is rigidly connected cleaning module 18；Four the ground wheel steering mechanism 19 that pass under of frame 17 are connected with four groups of ground wheels 21。Ground wheel steering mechanism 19 can individually rotate ground wheels 21；Ground wheels 21 brake device also can advance or retreat；With ground wheels 21 and the electronic flat standard of behaviour of wheels 16, the slewing area of ground wheel steering mechanism 19 is positive and negative 120 degree。Frame 17 also installs a negative pressure source 22 and a photographic head 23 above。Photographic head 23 band mechanical adjustment arm。General photovoltaic robot brush 24 and track 3 are electrically connected, and one group of two track 3 is connected with two electrodes of power supply 25 by wiring of transmitting electricity。Cleaning module 18 form a circuit loop with 26, two track 3, two place's brushes 24 of electric loading and power supply 25。Brush 24 includes electrographite brush。

The electric device including running on two tracks 3 on adjacent two row's photovoltaic system stands 1 at track 3 includes planting cultivation robot；Electricity consumption device such as electrically-charging equipment and the solar tracking device fixed also is included by electric loading 26。

Power supply 25 includes direct current and alternating current power supply；The voltage of power supply 25 is not limit, including unidirectional current scope 12 to 300 volt。Cleaning module 18 includes substrate 27, is arranged at the cleaning member of two groups of specular on substrate 27 two sides, pipeline includes exhaustor and feed pipe, sensitive wheel 28 and water blocking device 29。Substrate 27 two ends of cleaning module 18 are connected with a substrate switching mechanism 31 respectively；If substrate switching mechanism 31 is for 180 degree of upset substrates 27 so as to adapt to this row of reverse direction operation and clean from left to right, next row cleans from right to left。Substrate switching mechanism 31 includes an electric turbine mechanism；The driving output block of substrate switching mechanism 31 and substrate 27 are in transmission connection；The main body of substrate switching 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 include electronic screw mandrel and pneumatic driving element, promote driving mechanism 32 and the substrate switching 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 castering action includes the height installation accuracy error for cleaning module 18 absorbing light photovoltaic assembly 2, make cleaning module 18 not contact with photovoltaic module 2 so as quickly through and cross photovoltaic module 2 damaged time the glass relic that tilts。Riser 33 is connected with frame 17。Sensitive wheel 28 is provided with the vibrating sensor being connected with computer control system host signal；Several sensitive wheels 28 are uniform along substrate 27 length direction。Water blocking device 29 is used for stoping photovoltaic module 2 frame place hydrops to trickle backward。

Cleaning member includes shovel board 34, the long mouth dust absorption nozzle 36 constituting dry cleaning device and dust scraping plate 37；Constitute the washing water distribution clean cloth cylinder 38 of cleaning device, long mouth water absorbing nozzle 39 and Wiper blade 41。Shovel board 34 includes static shovel board and vibration type shovel board；Vibration type shovel board includes a shovel board being in transmission connection with vibration source。Vibration 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 include birds droppings。The cutting edge of shovel board 34 can also is that zigzag, and the width range of zigzag shovel board tooth is from 0.09 to 15 millimeter。Long mouth dust absorption nozzle 36 all connects with negative pressure source 22 with long mouth water absorbing nozzle 39。Long mouth refers to that suction nozzle length is consistent with the fabric width of cleaning member thus length 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, advantageously reduce the water accumulating volume before Wiper blade 41 and dust scraping plate 37 and laying dust amount。The axial line of substrate 27, shovel board 34, long mouth dust absorption nozzle 36, dust scraping plate 37, water distribution 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 a photovoltaic module 2 of several points, and namely cleaning member divides and cleans described photovoltaic module 2 several times。Exhaustor connects with negative pressure source 22 through controlling valve；Feed pipe connects with water source by controlling valve。Negative pressure source 22 includes using Laval-cavity nozzle and electric vacuum pump。

Water distribution clean cloth cylinder 38 includes the clean cloth material 44 of internal central siphon 42, the coaxial package water distributor 43 outside central siphon 42 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 includes being introduced from outside into and carrying water storing tank。These water arrive photovoltaic module 2 surface under gravity。These water include various dilution detergent。The content of Wiper blade 41 is referred 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 includes diameter and determines according to field requirement, contains, including per square centimeter on average, the permeable through hole that 0.2 to 1 diameter is 0.6 to 1 millimeter。The outside dimension of the clean cloth cylinder 38 of water distribution ranges for 14 to 70 millimeters。The thickness range of clean cloth material 44 is between 3 to 30 millimeters；Clean cloth material 44 connects and includes being bonded on water distributor 43。Clean cloth material 44 includes nylon yarn, stainless steel silk, Retinervus Luffae Fructus, weaving material, hairbrush and combination thereof。The preferred size of the clean cloth cylinder 38 of water distribution includes: central siphon 42 external diameter 27 millimeters；Wall thickness 0.4 millimeter, surface are with some the reinforcements rolling indent 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。Water distribution clean cloth cylinder 38 head and the tail two ends respectively adopt a revolute pair mechanism and a drum drive to be connected with substrate 27。Water distribution clean cloth cylinder 38 can forward and reverse rotate。When the pace of cleaning module 18 is 1 meter per second, water distribution clean cloth cylinder 38 surface each point is 0.1 to 2 meter per second by rotating the velocity interval brought。When water distribution clean cloth cylinder 38 surface adopts cluster cluster hairbrush, arranging each tuft brush according to one or more helix 46 pattern, height dimension is more than 15 millimeters。Water distribution clean cloth cylinder 38 adopts each tuft brush that helix 46 pattern is arranged, coordinates the attribute with auger conveyor with dust scraping plate or Wiper blade, can make dust and water quickly toward assigned direction, move including the direction low to position。Water distribution clean cloth cylinder 38 direction of rotation includes bottom toward and away from scraper plate, selects 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 connected with computer control system governor circuit 56 signal each through data/address bus 54；The state making PLC communication module, electronic wheels, cleaning module, power supply and photovoltaic module changes according to the change of computer control system governor circuit 56 state。

The clean robot operation principle of embodiment 1: computer control system obtains the overall information about photovoltaic module 2 according to photographic head 23 and includes: whether have whether the data that the state of obvious dirt foreign material and hot spot, current photovoltaic module 2 includes the seam between the photovoltaic module in adjacent front and clearance conditions and database purchase have obvious difference above, photovoltaic module 2 whether damaged from the distance of photovoltaic module 2, photovoltaic module 2。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, water distribution clean cloth cylinder 38 photovoltaic module 2 surface water distribution and rotate scouring, long mouth water absorbing nozzle 39 is drawn Wiper blade 41 and is collected in the water on photovoltaic module 2 surface；Situation is abnormal, then wait back-office support by communication module report。The sized data that photographic head sometimes can not exceed than current photovoltaic module with enough degree of accuracy offer front photovoltaic modulies, this may result in the equipment shock to photovoltaic module 2。Adopt sensitivity 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 so as to normal operation。

Upper rail platform 4 includes one piece of hard surface；In order, rail platform 4 surface is to the maximum normal distance of track 3 upper surface, takes turns the vertical dimension of lower surface to ground equal to electronic wheels 16 lower surface of electric device。General photovoltaic robot with ground wheel and electronic wheels 16 can arrive the dead ahead of track 3 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 photovoltaic clean robot cleaning one row's photovoltaic module, drive off track 3 and its ground wheel steadily rolls with upper rail platform 4 and is connected。Then next row photovoltaic module 2 is driven towards, including traveling of turning round。The process of the upper and lower track of robot cleaner for photovoltaic module includes: robot cleaner for photovoltaic module is landed on upper rail platform 4 from track 3, directly drive towards the photovoltaic module on opposite, or wheel steering mechanism 19 rotates ground wheels 90 degree one by one by ground, then next row photovoltaic module 2 is driven towards straight, traveling limit, limit provides self-position by machine vision photographic head 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 photographic head 23, robot cleaner for photovoltaic module reaches the upper rail platform 4 of next row photovoltaic module 2, take turns steering mechanism 19 again by ground and turn round ground wheels 90 degree reset one by one, under photographic head monitors, progressively close to track 3 and by the real-time continuous calibration of ground wheel steering mechanism 19, until reaching track 3。Additionally, during the traveling of upper rail platform 4。The mode that robot cleaner for photovoltaic module can also be passed through to turn round drives to next row photovoltaic module place according to semicircular arc track and reaches track。The power supply of robot cleaner for photovoltaic module and frame includes being obtained by current collector from track-like transmission of electricity bus such as track and carrying accumulator。

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

Embodiment 1 automated cleaning parts can also so change: 1) only is used for removing accumulated snow by shovel board 34；2) it is used for dry cleaning only with long mouth dust absorption nozzle 36 and dust scraping plate 37；Dry cleaning can also configure a hair-dryer before long mouth dust absorption nozzle 36；The air outlet of hair-dryer includes the round growing air port and uniform thin air outlet；3) only lengthening mouth water absorbing nozzle 39 with Wiper blade 37 or Wiper blade 37 and drive towards cleaning: 4) shovel board 34 above increases along the mobile hair-dryer blowing mouth of shovel board 34 cutting edge and/or suction port of suction cleaner 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) auger conveyor and collection snow container are adopted, by collection snow carrying scene；6) omit sensitive wheel 28 below or omit all sensitive wheels 28；7) existing technology is adopted to include window cleaner。

Hair-dryer includes drifting dust, blows dirt and blowing snow parts, and usual hair-dryer is avenged parts with dust suction, soil pick-up and suction and coordinated；Drifting dust, blow dirt and dust, dirt and accumulated snow are blown afloat by blowing snow parts, it is simple to avenged parts by dust suction, soil pick-up and suction 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 opened to the outside world, makes the electric device of outside obtain electric energy by supporting current collector。

The track 3 of embodiment 1 can not also be connected with power supply 25 but other other power supplys of configuration include power accumulator and are operated。Now, track 3 is connected without with power supply without insulating mounting。

Embodiment 1 is also adaptable for the upgrading of existing photovoltaic generating system, including arranging track 3 and running various photovoltaic special 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 includes stand 1, dotted line marks。Cushion block 57 is set in the both sides of photovoltaic generating system and by the supporting parts 6 that insulate, one group of two parallel steel tube track 3 of connection is installed on cushion block 57。At least one track 3 is connected installation 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 with track 3 and roll is connected two groups electronic wheels 16 and connected as one by great-leap-forward frame 17, several hoist engines 61 uniform above frame 17, hoist engine 61 hang down cable 58 involve below cleaning module 18。Content about cleaning module is referred to described in embodiment 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 mention cleaning module 18 and put down after cleaning module 18 spends gap again。Power transmission line 60 is affiliated to up in frame 17。Involving of cable 58 includes directly drawing cleaning module or only providing electric power to cleaning module and allow the electronic wheels of cleaning module assembly drive；Additionally, be responsible for providing the electric device of electric power can also is that to cleaning module 18, namely wheelbar-row type electric device does not adopt bridging frame。

The electronic wheels 62 of assembly of cleaning module 18 coordinate the cooperation realizing both to roll with the frame 59 of photovoltaic module 2 and are connected；And rely on the electronic wheels 62 of assembly to drive operation；The electronic wheels 62 of assembly include 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 additionally operable to the locus of constraint cleaning module 18。In Fig. 9 broken 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 includes shaped metal frame；Computer control system changes the spatiality of cleaning module 18 by changing hoist engine 61 and cable 58, so as to adapt with the spatiality of photovoltaic module 2 and fit on photovoltaic module 2。

The electronic wheels 62 of assembly can also only include front wheel 63。

One cleaning module 18 of each piece of each use in embodiment 2, in two pieces of photovoltaic modulies 2。One piece of photovoltaic module 2 can also be adopted to adopt multiple cleaning module 18 or a polylith photovoltaic module 2 arranging neighbouring layout 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 back and forth along frame about 17 can also be adopted, and connects a horizontal cleaning module 18 by moving sets mechanism 65, photovoltaic module 2 is cleaned。The advantage of embodiment 2 includes: install not bery neat existing system for photovoltaic module, it may not be necessary to the lateral attitude and the inclination angle that repeatedly adjust cleaning module just can realize the cleaning to photovoltaic module。

When gap is relatively greatly such as 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 adjacent photovoltaic assembly 2 that gap between them is bigger, and makes the electronic wheels of assembly 62 of cleaning module 18 can cross over described gap smoothly to 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 Rotation vice mechanism 67 so that cleaning module 18 can rotate as shown in Figure 10 dotted line, and it is cleaned under one angle state of rotation in the clockwise direction。For not Rimless photovoltaic module, this design has the advantage facilitating the easily landing downwards of dust or washings。Can also adopt and between cleaning module 18 with substrate 27, adopt fixing corner to be connected。

The frame 17 of embodiment can also be used only for connecting electronic wheels 16 and not using cable 58 to involve cleaning module 18；But now frame 17 realizes being electrically connected between cleaning module 18 with signal by cable。Cleaning module utilizes the electronic wheels of assembly to travel on photovoltaic module。

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

The electronic wheels of assembly of embodiment 2 can be combined with the middle cleaning module of embodiment 1 and be used for the driving of cleaning module。

The wheel of the electronic wheels travelled on round steel pipe track 3, the outer surface of its wheel hub can be a ring-type semicircle groove matched with the track 3 being connected joined together。Other tracks and the wheel adapted with it can also be adopted。

Figure 11 provides embodiment 3。

In embodiment 3, manufacture in a magnetic roller brush figure shown in broken circle, as current collector, including 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 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 a photovoltaic system stand being connected with column 7 insulation by insulant 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 the brush 24 good operating mode of maintenance of beating at the volley。One dust cover can also be set for current collector, keep brush and magnetic roller cleaning；Cleaning brush can also be configured, including configuring cleaning brush in the outside of dust cover in the front and back of current collector。

Figure 12 Figure 11 provides embodiment 4 jointly。

Embodiment 4, manufactures a photovoltaic inspecting robot, including electronic wheels 16, ball or roller slide block 71, frame 17, photographic head 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 insulant 68 insulation with column。Lower two surfaces make and have two chutes on the track 3, are connected for coordinating to roll with the ball or 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 roll, with shaped steel track 3 side, the electronic wheels 16 being connected and is driven；And adopt two current collector magnetic roller brushes 5 to be electrically connected to constitute circuit loop realize power taking with shaped steel track 3 and banding track-like transmission of electricity bus 72 respectively。Banding track-like transmission of electricity bus 72 is not dielectrically separated from column。

The dotted line broken line lower right part of embodiment 4 can also individually regard that the electronic wheels of assembly have the coordinating of photovoltaic component frame of two grooves to roll connection diagram with making as。

Figure 13 provides embodiment 5。

In embodiment 5, adopting the shaped steel track 3 being connected with column 7 by insulant 68, shaped steel track 3 is connected with power sourced electric。It is internally embedded an embedded-type electric driving wheel group 16 at shaped steel track 3；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 ball of embodiment 3 or the embedded-type electric driving wheel group 16 of roller slide block 71 and embodiment 5 can only move along the axial line of track 3, belong to moving sets track。Moving sets track can independently constitute a wheelbar-row type electric device, is used for making an inspection tour photovoltaic module。The ball of embodiment 3 or the embedded-type electric driving wheel group 16 of roller slide block 71 and embodiment 5 can also manufacture about two tracks arranged and be connected with power supply to form circuit loop, so makes more compact structure without cross connection type frame。

Wheelbar-row type electric device, is electrically connected with its power transmission line and cleaning module 18, it is possible to achieve cleaning module 18 is without frame or is not connected with frame 17。Being specifically included on two metal tracks and be respectively provided with current collector, current collector includes the electronic wheels of wheelbar-row type electric device or/and brush；Power taking assembly is electrically connected cleaning module by power transmission line；Power taking assembly independent from row cutting and with cleaning module synchronous operation；Electricity consumption load one electric loop of composition of power supply, two metal tracks, power taking assembly, power transmission line and cleaning module；The cleaning module 18 realized in motion is connected with hard-wired power sourced electric。

Different from the round steel track passing through insulation supporting parts connection, the connected mode of embodiment 3 and embodiment 5 track more freely includes from being connected with basis above；The track of embodiment 3 and embodiment 5 can also specular layout include arranging with the vertically symmetrical central plane of column 7 or insulant 68 for datum plane specular。Do so can provide the linkage interface of two and electronic wheels simultaneously。Its purposes includes the photovoltaic green-house terrace lower railway making elucidated hereinafter。

Figure 14 provides embodiment 6。

In embodiment 6, photovoltaic module 2 top frame 59 towards above and/or lateral surface adopt insulation mode to connect to include bond on frame 59 one layer of insulant bond on the insulating material a sheet metal or shape 74, double as track and high potential track-like transmission of electricity bus, namely sheet metal or shape 74 both wheels electronic with the assembly of electric device coordinate rolling to be connected, and are electrically connected with current collector again。The described high potential of entire row photovoltaic module 2 is electrically connected interface electrical connection be 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 the electronic wheels of assembly to travel on the sheet metal or shape 74 of photovoltaic module 2；The electronic wheels of assembly include front wheel 63 and side wheel 64；Cleaning module can also adopt the electronic wheels of upper/lower terminal assembly of symmetric design be connected with high potential track-like transmission of electricity bus and frame 59 and be electrically connected。

In embodiment 6, the top frame 59 of photovoltaic module 2 adopts a sheet metal or the shape of insulation mode connection, can also be directly bonded on the glass plate of double; two glass dual light photovoltaic assemblies of Rimless, it is necessary to connect two sheet metals or shape, in order to constitute a circuit loop。

In conjunction with the embodiments 6, embodiment 2 can also so change: does not use track and electronic wheels, but directly adopt common electric device to include the road traveling at photovoltaic system scene of the electric device with photovoltaic module clean facilities, at this moment, the sheet metal described in embodiment 6 or shape 74 track-like transmission of electricity bus is adopted to obtain the electric energy required for relevant electric device。

Figure 15 and 16 provide embodiment 7 jointly。

Prior art is installed photovoltaic battery panel and is generally retained artificial access path on color steel tile roof。Adopt this utility model can build overall sun field, continuous print roof。Compared with monolayer color steel tile, in color steel tile overall continuous print photovoltaic battery panel in summer owing to shading thoroughly and has Stilt layer, can reduce at most by 3 kilowatt hour solar energy inputs every day every square metre, if plant site uses air-conditioning, 1.1 kilowatt hour idle call energy can be saved at most for every square metre；Night in winter compared with monolayer color steel tile due to reduce radiation can reduce room temperature lowering 3 to 10 DEG C。Between the long-span beams on color steel tile roof, spacing is big, mostly be arch out-of-flatness and weight-bearing load is low, is not suitable for personnel and up and down but is suitable for the weight photovoltaic robot construction less than 20 kilograms and cleaning。

In embodiment 7, the photovoltaic generating system of belt track adopts angle steel horizontal frame array 76 to install。Several assembly installing spaces 79 that the shaped steel 78 that frame array 76 includes short column 77, cross section is inverted T shape is constituted, each assembly installing space 79 includes two sections of shaped steel being parallel to each other 78。Shaped steel 78 include 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 keeps the neat discharge of photovoltaic module 2。It is a grid structure body 84 between photovoltaic module 2 and monolayer color steel tile roof 83, has been used for the overall photovoltaic module 2 installed continuously of distributed constant form and out-of-flatness and with the weight transfer between the long-span beams 85 of lumped parameter layout。Grid structure body 84 includes rack and the lightweight framework body of transmission that other are constituted for element, for power with bar, pipe, plate。Water leg 86 is set in the underface of photovoltaic module 2 four edges, for receiving the rainwater permeated from photovoltaic module aperture and being discharged by these rainwater。

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 several photovoltaic modulies 2；And make water leg 86 also with 0.5 to 10 inclination angle spent。

Being connected with grid structure body 84 by short column 77 for running general photovoltaic robot 87 track 3 to general photovoltaic robot 87 power supply, track 3 is slightly higher than photovoltaic module 2；At least part of track 3 is installed with external insulation；Two adjacent tracks 3 are all connected with the electrode of a power supply for general photovoltaic robot 87 electricity consumption load supplying such as grade。General photovoltaic robot 87 includes electronic wheels 16, cross connection type frame 17, plug-in mechanical arm 88, the hoist engine 61 being distributed in frame 17 and general photovoltaic robot control system。Cable 58 lower end that hoist engine 61 hangs down connects a vacuum and inhales pawl assembly 89, and vacuum is inhaled pawl assembly 89 and included several suckers。Vacuum is inhaled the sucker of pawl assembly 89 and connect with negative pressure source, it is possible to absorption or discharge the so smooth object of glass plate of photovoltaic module 2。

The autoinstall procedure of embodiment 7 photovoltaic module 2: scene is scanned the data required for obtaining construction and installation with scanning means, designs and produces installation frame structure 84, track 3 and the passage 91 that switches tracks, and install inverter and power transmission line, electrical outlets 15 is set on frame structure 84 and connects connecting line；Then with general photovoltaic robot 87, photovoltaic module 2 vacuum is inhaled pawl assembly 89 pick up and be transported to installation site, the output wire ends 30 of photovoltaic module 2 is inserted electrical outlets 15 inspection with plug-in mechanical arm 88 and normally, is put down the appointment position of photovoltaic module 2 to frame array 76 by including the output when described photovoltaic module 2 is subject to illumination by general photovoltaic robot 87。So continue to be repeated up to install。Switch tracks passage 91 for general photovoltaic robot 87 de-orbit 3 time mobile traveling。

Monolayer color steel tile roof 83 changes concrete terrace into, it is possible to without grid structure body 84, but be directly connected with basis with short column 77 by the frame array 76 of carrying photovoltaic module 2。The part that in Figure 16, parallel diagonal lines indicates is skylight, partial enlargement describing framework array 76, shaped steel 78 and assembly installing space 79。Can ground connection be used for taking shelter from the thunder 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 advantage producing high-quality agricultural product。But the many local hydropenias of northern China, frost-free period are short, the desert and semidesert not water in some place and permeable serious or farming, conditions of existence harsh cause local agricultural workforce to lack, also some local subsoil water arsenic content is high because stone is not suitable for more。Should in implementing 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, including agricultural robot 93 in agricultural robot 92 and stand between column stand 1, photovoltaic module 2, general photovoltaic robot 87, row。Big broken circle is the amplification to little broken circle place: connect the opening tubular slide rail 94 including manufacturing with laser weld 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 making coordinates, with opening tubular slide rail 94, the embedded type slide block 95 being slidably connected。And make agricultural film 96 or the sunshade net of the uniform connection embedded type slide block 95 in both sides；Agricultural film 96 is wound on an agricultural film reel。Pull the agricultural film 96 being wound on agricultural film reel with general photovoltaic robot 87 and make the uniform embedded type slide block 95 being connected to agricultural film 96 both sides embed in the opening tubular slide rail 94 being connected on front and rear row photovoltaic component frame；Agricultural film 96 and photovoltaic module 2 is made to collectively form the photovoltaic green-house terrace of a Guan Bi；At the periphery seamless link photovoltaic green-house facade of described photovoltaic green-house terrace, constitute a sky and wear the photovoltaic green-house 97 of photovoltaic module。

More than two opening tubular slide rails 94 can also be adopted to arrange the above agricultural film of two-layer。Opening tubular slide rail 94 and embedded type slide block 95 can also be done accommodation, including adopting raised line formula slide rail and coordinating the opening tubular slide block being slidably connected with raised line formula slide rail。Described various slide block also includes the slide block with ball。The design of these slide rails and slide block is referred 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, it is connected with agricultural film 96 and with the slide block 95 of internal thread hole to when specifying the through hole of opening tubular slide rail 94 of position when general photovoltaic robot 87 pulls, and being connected through described through hole with described internal thread hole with a fixing screw, namely lockable slider 95 and agricultural film 96 are not blown away。Later weather gets warm again after a cold spell, and screws off fixing screw and can recall agricultural film and be wound on once again on described agricultural film reel。In like manner, agricultural film 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。

It is arranged below or rainwater collected by one section of water leg 86 of integral production at the aluminum section of photovoltaic component frame being in lower position；Photovoltaic module can individually 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 connected with collection pipe 99 by downpipe 98。Water leg 86 is connected with a collection pipe 99 by downpipe 98。Collection pipe 99 is by rainwater catchment to appointed place。Collection pipe 99 can double as track or double as track and track-like transmission of electricity bus operation electric device the part as the loop connecting power supply。

The uniform some osculums in the agricultural film 96 position directly over water leg 86；Osculum diameter 1 to 10 millimeter。Using agricultural film period, the rainwater of photovoltaic green-house 97 terrace enters water leg 86 by osculum and removes。

Not using the photovoltaic generating system of the belt track of agricultural film, the rainwater on photovoltaic module 2 is directly entered water leg 86。

In Figure 17 embodiment 8, two set tracks are adopted to include the track that doubled as previously mentioned by the upper and lower frame of photovoltaic module and respectively by collection pipe 99 and the film lower railway that formed by the track 3 that insulation supporting parts is connected with stand 1 column 7 altogether。During using thin film, the track that frame 59 doubles as still can run general photovoltaic robot 87 for patrolling and examining and cleaning。Film lower railway then can arrange the agricultural robot of operation between stands 1 two by agricultural robot 92 between the row of operation。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 includes front and rear row ground wheels 21, chassis is connected with chassis is connected with track girder 101。Operation module 102 includes 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 machinery, rice transplanting, rice shoot and harvesting plant modification, is specifically referred to prior art。Operation module 102 can be fixed on track girder 101 operation or ceaselessly move back and forth limit operation 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 are to use ground wheels 21；And can also be without the electronic wheels coordinated with ground wheels 21 but employing with track 3 and collection pipe 99 when carrying out the plant protection operations such as fertilising。

Inside column stand 1, also set up aerial cable 103 and run 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 includes 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 slided by pantograph 104 and aerial cable 103 and is electrically connected 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 adopting intelligence degree high substitutes in a large number manually, utilizes the agricultural film being connected with photovoltaic module to extend frost-free period, utilizes photovoltaic module collect rainwater and clean storage；It is expected to extenuate that desert and semidesert area agricultural workforce's shortage, hydropenia, frost-free period be short and the problem of energy 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 and improve ecological condition and/or for economic development offer soil for building forest。

The many local rain hotsyncs of northern China, the annual rainfall to more than 150 millimeters of summer rice planting season, photovoltaic module if, with neighbouring photovoltaic generating system is collected rainwater and is suitably stored, in actual efficiency 50%, the rice field that then can make area same with rainwater-collecting photovoltaic generating system increases to 210 millimeters in the capacity of water supply of Period of paddy planting, it is possible to meet the Rice Cropping minimum requirements of precipitation 210 millimeters。The photovoltaic generating system of the belt track of rainwater-collecting is installed in desert and semidesert area, can while implementing photovoltaic generation, build a large amount of facility farmland, constitute plantation block the facility farmland using planting soil to build in plantation block including adopting geotextiles in desert。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 of solar electrical energy generation。

The glass photovoltaic green-house with pinnacle can also be built and track is set inside and outside glass photovoltaic green-house includes doubling as the track of track-like transmission of electricity bus, orbit general photovoltaic robot, including the robot that glass photovoltaic green-house terrace and facade inner surface carry out wiped clean。Condensation water by lasting wiping terrace and facade interior surface, it is possible to be effectively improved the terrace facade actual transmitance of sunlight in the winter time, improve the situation of the existing booth low light level, low temperature, high humidity。And likely realize arranging in lighttight photovoltaic cell situation at terrace 50%, still obtain and do not carry out the identical illumination of inner 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 volt booth 97 of pinnacle glass light more than, including Steel Structure 107, facade 108, pinnacle terrace with photovoltaic module and photovoltaic green-house computer control system。The Steel Structure 107 with photovoltaic green-house of photovoltaic system stand is combined；Pinnacle terrace includes towards south domatic 109 and is exposed to the north domatic 111；Track 3 and the track that switches tracks internally and/or externally are set at photovoltaic green-house 97；Track 3 be arranged at that pinnacle terrace is upper and lower and facade 108 medial and lateral or with Steel Structure 107 integral production；Track 3 includes doubling as track-like transmission of electricity bus and the track that is connected with power sourced electric is referred to foregoing teachings。The pattern of track 3 includes the pattern of Figure 11 and Figure 12 embodiment, it is also possible to combined by two track 3 specular as described in Figure 11 or Figure 12, and its both sides of the track after merging can be connected with two groups of electronic wheels simultaneously。Travel general photovoltaic robot 87 on the track 3 and include automated cleaning machine people。

In order to realize the general photovoltaic robot 87 transfer between front and rear row track 3, adopt Steel Structure 107 and switching tracks, track run the robot that switches tracks。The track that switches tracks includes switching tracks on terrace the track 113 that switches tracks under track 112 and terrace；The track 112 that switches tracks on terrace is arranged at the side of photovoltaic green-house 97, including one group two tracks doubling as track-like transmission of electricity bus。Travel on the robot 114 that switches tracks on the terrace on the upside of terrace and include electronic wheels that chassis is connected with chassis, 116, two docking tracks 117 of steering base and the strut 118 being connected with docking track 117。Steering base 116 is connected with chassis by a vertical revolute pair mechanism and a rotating drive mechanism；The identical electronic wheels 16 included with general photovoltaic robot 87 roll the gravity of the general photovoltaic robot 87 that is connected, transmits and provide the electrical connection with power supply to general photovoltaic robot 87 attribute of docking track 117 with track 3。Strut 118 can also be made for adjustable support rod。General photovoltaic robot 87 on terrace directly can drive to from the track 3 terrace on the robot 114 docking track 117 that switches tracks on interfaced terrace or from docking track 117 and drive on track 3。Docking track 117 loads the robot 114 that switches tracks on the terrace of general photovoltaic robot 87 track 112 that can switch tracks along terrace travel and make that its docking track 117 is same with on terrace to be organized two tracks 3 towards domatic another and dock, in order to the general photovoltaic robot 87 of its loading can directly drive on interfaced track 3。

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

When strut 118 is adjustable support rod, it is also possible to regulate the state of docking track 117 without steering base 116 by described adjustment strut。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 terrace of docking track 87 fabric width。

The design of the built on stilts track 112 that switches tracks is set in track 3 side as Figure 19, very useful for the photovoltaic system having snow-up terrain；Also very useful at the photovoltaic system of the water surface for building。

It is internal that the track 113 that switches tracks under terrace is arranged at photovoltaic green-house 97, travels on the robot 119 that switches tracks under the terrace switched tracks under terrace on track 113 and includes electronic wheels, electric expansion mechanical arm 121 and the two docking tracks 117 that chassis is connected with chassis。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, for regulating the spatiality of docking track 117。The identical electronic wheels 16 included with general photovoltaic robot 87 roll the gravity of the general photovoltaic robot 87 that is connected, transmits and provide the electrical connection with power supply to general photovoltaic robot 87 attribute of docking track 117 with track 3。The state of docking track 117 can adjust and integrate with two tracks 3 of any group of under terrace。General photovoltaic robot 87 under terrace directly can drive to the robot 119 docking track 117 or drive on track 3 from docking track 117 of switching tracks under interfaced terrace from track 3。Docking track 117 loads the robot 119 that switches tracks under the terrace of general photovoltaic robot 87 first to lower the obstruction that figure avoids being exposed to the north domatic 111 bottoms towards south domatic 109, then the track 113 that switches tracks under terrace travels, recover figure again through electric expansion mechanical arm 121 after putting in place and make that its docking track 117 is same with under terrace to be docked towards another row's track 3 domatic, in order to the general photovoltaic robot 87 of its loading can directly drive to the track 3 docked。

The robot 119 that switches tracks under terrace completes general photovoltaic robot 87 and turns to towards domatic in difference, it is possible to directly realize when putting down figure and recovering figure。It is naturally required that the relevant parts of general photovoltaic robot 87 include cleaning module 18, self two ends is exchanged 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 can regulate the robot 119 that switches tracks under the terrace of docking track 117 fabric width。

Facade 108 medial and lateral of photovoltaic green-house 97 are respectively provided with one group two interior facade tracks 122 and alien invasion track 123；Interior facade track 122 and alien invasion track 123 have track and the attribute of track-like transmission of electricity bus, including rolling the gravity coordinating, transmitting general photovoltaic robot 87 with the electronic wheels of general photovoltaic robot 87 and providing 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 docking with this interior facade track 123, and the general photovoltaic robot 87 inside facade 108 can sail to interfaced interior transition 126 from interior facade track 122；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 interfaced outer transition 128 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 include rotatable glass plate 129；Rotatable glass plate 129 is connected with basis by a glass plate inclination-angle regulating device 131。By glass plate 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 is opened aeration-cooling；3) the luminous reflectance effect utilizing rotatable glass plate 129 sunlight is reflexed to row towards south domatic pair of glass dual light photovoltaic assembly below photovoltaic cell or sunlight is reflexed to heel row towards south domatic。Can also inside rotatable glass plate 129 or outer surface mirror surface is set to strengthen luminous reflectance effect。Mirror surface includes high emissivity aluminium sheet and aluminized plastic film；The mode that mirror surface posts includes adopting transparent silica gel bonding。

Photovoltaic green-house 97 configures a driving 132；Driving 132 includes electronic wheels, track-like transmits electricity bus, crane beam rolls the hoist engine being connected and driving computer control system with crane beam。The some cables hung down from hoist engine；Cable each connects the linkage interface of a blower assy 133；The state of blower assy 133 changes according to the state change 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 connects。Crane beam is provided with the linkage interface being connected with the robot 114 that changes gear on terrace, it is possible to be connected with the robot 114 that changes gear on terrace by described linkage interface。

When photovoltaic green-house 97 terrace accumulated snow, with blower assy 133 towards south domatic 109 be exposed to the north on domatic 111 and move back and forth, accumulated snow is blown off。The state of blower assy 133 sets as required。

Photovoltaic green-house inside is cleaned remove water smoke avoid scalding crops under condensing water droplet, adopting safety glass can resist hail, therefore can build flat-top photovoltaic green-house。Compared with pinnacle, flat-top booth reduces terrace area and cost, minimizing area of dissipation；In order to terrace draining is smooth, it is possible to make the inclination angle that sky wears 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 flat-top terrace 134, all the other contents can refer to embodiment 9。Flat-top terrace can arrange double; two glass dual light photovoltaic assembly 2 according to the density of 30-80%。

Arranging one group of two moveable track 3 on flat-top terrace 134, two tracks 3 are relatively fixed and use two wireline cable 58 and 4 hoist engines 61 altogether being arranged at flat-top terrace two ends are in transmission connection。General photovoltaic robot 87 runs on the track 3, superposition track 3 operation back and forth from left to right on flat-top terrace 134, it is possible to achieve general photovoltaic robot 87 operation on whole flat-top terrace 134。

Flat terrace 134 side dispose a steel wire reel 136；Steel wire reel 136 coiling steel wire net 137 above；The forward position of steel wire adopts bar 135 of taking the lead to involve。Opposite side at flat terrace 134 arranges two steel wire hoist engines 138；Steel wire hoist engine 138 is in transmission connection by cable and steel wire 137；Steel wire hoist engine 138 and steel wire reel 136 link, it is possible to be covered with uniform and parallel steel wire or woven steel fabric 137 on whole flat-top terrace 134；Wherein gauge of 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 bead that the aperture preferred value of braided steel wire mesh is diameter 9.9 millimeters passes right through。

Figure 23,24 jointly provide embodiment 11。

Embodiment 11, manufactures a slot light collection solar energy equipment, including slot-type optical collector 153, Columnating type solar element 154, tracking mode stand 1 and computer control system；Columnating type solar element 154 include middle temperature thermal-arrest please with condensation photovoltaic battery。Tracking mode stand 1 includes 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 includes frame 17, electronic wheels 16, current collector, cleaning module 18, element cleaning arm assembly, water tank 156 and computer control system。Follow the tracks of device 139 and current collector and track 3 is electrically connected。Element cleaning arm assembly includes mechanical hand and element cleaner 157；Element cleaner 157 is containing the shape matched with element 154 surface。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 includes long mouth dust absorption nozzle, water distribution clean cloth cylinder 38, long mouth water absorbing nozzle and Wiper blade, and its relevant content is referred to embodiment 1 and prior art。As different from Example 1, the part that slot-type optical collector 153 is to be cleaned includes parabola minute surface；Therefore, the shape of described long mouth dust absorption nozzle, long mouth water absorbing nozzle and Wiper blade matches with the shape of described parabola specular surface。The water distribution clean cloth cylinder 38 of wiping parabola minute surface includes wooden club type water distribution clean cloth cylinder or is made up of the clean cloth cylinder of the water distribution of multiple segmentations, in order to whole minute surface is implemented zero difference cleaning。

While cleaning module 18 implements cleaning, as required, computer control system makes the manipulator behavior of element cleaning arm assembly make element cleaner 157 element 154 of fitting implement the cleaning to element 154。

The general photovoltaic robot 87 of embodiment 11 switch tracks facility and technology is referred to preceding embodiment and realizes。

Figure 25 provides embodiment 12。

In embodiment 12, general photovoltaic robot includes ground wheels 21, frame 17, current collector 73 and computer control system。Installing an aerial cable 103 and a power on stand, current collector 73 is electrically connected by pantograph 104 and aerial cable 103。Mounting more than one blower assy 133 and cleaning module 18 with hoist engine by cable 58 in frame 17, at least blower assy 133 covers with a guard shield 158。Guard shield 158 connects with a vacuum cleaner 159。The air outlet 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 with aerial cable 103 and moves ahead along photovoltaic module 2, start blower assy 133。Cloth flexible cable 160 such as flag is waved in wind, it is achieved the wiping to glass pane surface；Air in guard shield 158 is extracted out and is filtered rear discharge up to standard by vacuum cleaner 159。Meanwhile, photovoltaic module 2 surface is carried out cleaning (relevant content is referred to previous embodiment) further by cleaning module 18。

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

Claims (2)

1. a general photovoltaic robot, is characterized in that including frame, electronic wheels, current collector and computer control module；Electronic wheels on two metal tracks are connected in one by cross connection type frame；Electronic wheels include the electronic wheels of track travelling on track and the electronic wheels of assembly travelling on assembly；The electronic wheels of assembly include front wheel and side wheel；Front wheel is used for driving；Side wheel is used for positioning；The electronic wheels of assembly realize cleaning module and are connected with the cooperation rolling of photovoltaic module；The electronic wheels of track and the electronic wheels synchronous operation of assembly；

Current collector and a track-like transmission of electricity bus connect；Track-like transmission of electricity bus includes the track of conduction, bridges on the upside of the photovoltaic module of the shaft of multiple stand, metal cords or adjacent docking and external insulation and electrical communication and/or downside frame；The resistivity of track-like transmission of electricity bus is less than 0.2 ohm of millimeter 2/ meter；Track-like transmission of electricity bus is connected with the electrode of power supply；Current collector includes electronic wheels and brush；Electricity consumption load one electric loop of composition of power supply, track-like transmission of electricity bus, current collector and general photovoltaic robot；Supply general photovoltaic robot electric power continually。

2. a kind of general photovoltaic robot described in claim 1, is characterized in that also including ground wheel；Frame is connected with ground wheel by four ground wheel steering mechanism。