CN205496103U - General photovoltaic robot - Google Patents

Abstract

The utility model provides a general photovoltaic robot, characterized by include frame, electric dynamic wheel group, function facility, power battery 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 function facility includes cleaning module and camera, the cable that drops in function facility and the frame is connected, electricity dynamic wheel group including travel on the track track electricity dynamic wheel group with subassembly electricity dynamic wheel group on the subassembly traveles, computer control system passes through the spatiality that the cable changes cleaning module. The cable that drops in function facility and the frame is connected, make the automatic facility of operation include that general photovoltaic robot can directly perhaps set up transfer between operation on the track on ground, the convenient photovoltaic device in the difference, the suitable inconvenient existing photovoltaic power generation system who sets up track and/or rail form transmission of electricity generating line on the rack on ground.

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 uses machines clean when mounted；After, using 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 used 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, functional facilities, electrokinetic cell and computer control module；Electronic wheels on two metal tracks are connected in one by cross connection type frame, and functional facilities includes cleaning module and photographic head；Cleaning module includes one piece of cleaning cloth or one piece of scraper plate；Scraper plate includes the windscreen wiper of vehicle wiper；Functional facilities is connected with the cable hung down in frame；Electronic wheels include the electronic wheels of the track travelling on track and the electronic wheels of assembly travelling on assembly；The electronic wheels of assembly include that front wheel and side are taken turns；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 run simultaneously with the electronic wheels of assembly；Computer control system changes the spatiality of cleaning module by cable.

Can also include that ground is taken turns, and make frame pass through four ground wheel steering mechanism taking turns with ground and be connected.

Beneficial effect: functional facilities is connected with the cable hung down in frame；The automation installation making operation includes that general photovoltaic robot directly can run on ground or be arranged on the track on ground, convenient shifts between different photovoltaic devices, be suitable for inconvenience and arrange track and/or the existing photovoltaic generating system of track-like transmission of electricity bus on stand.

Accompanying drawing explanation

Fig. 1,2 it is to 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 end connect just cut open structural representation.

Fig. 6 is one and is loaded, by power supply, track-like transmission of electricity bus, current collector and electricity consumption, the circuit diagram formed.

Fig. 7 is the control system composition frame chart 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 that a photovoltaic cell plate member doubling as photovoltaic green-house terrace is discontinuously arranged.

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 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. insulation supporting parts；7. column；8. foundation pile；9. steel pipe；10. spring；11. labellings；12,13. connect end；14. spanner grooves；15. electrical outlets；16. electronic wheels；17. frames；18. cleaning modules；19. ground wheel steering mechanism；20. magnetic attracting devices；21. ground wheels；22. negative pressure sources；23. photographic head；24. brushes；25. power supplys；26. use electric loading；27. substrates；28. sensitive wheels；29. water blocking devices；30. output wire ends；31. substrate switching mechanisms；32. promote drive mechanism；33. risers；34. shovel boards；35. PLC communication modules；36. long mouthful dust absorption nozzles；37. dust scraping plates；38. water distribution clean cloth cylinder；39. long mouthful water absorbing nozzles；41. Wiper blades；42. central siphons；43. water distributors；44. clean cloth materials；46. helixes；47. air purifiers；48. shovel board screw bodies；50. Electric Motor Wheel group interface circuit；51. cleaning module interface circuits；52. power interface circuits；53. photovoltaic module interface circuits；54. data/address bus；56. governor circuits；57. cushion blocks；58. cables；59. frames；60. power transmission lines；61. hoist engines；The 62. electronic wheels of assembly；63. front wheels；64. side wheels；65. moving sets mechanisms；66. crane span structures；67. Plane Rotation vice mechanisms；68. insulant；70. magnetic rollers；71. balls or roller slide block；72. track-like transmission of electricity buses；73. current collectors；74. sheet metals or shape；76. frame array；77. short columns；78. shaped steel；79. installing spaces；81. vertical edges；82. horizontal sides；83. monolayer color steel tile roofs；84. grid structure bodies；85. long-span beams；86. water legs；87. general photovoltaic robots；88. plug-in mechanical arms；89. vacuum inhale pawl assembly；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. thin film；97. photovoltaic green-houses；98. downpipes；99. collection pipes；101. track girder；102. operation modules；103. aerial cable；104. pantograph；105. ground connection rollers；107. Steel Structure；108. facade；109. is domatic towards south；111. be exposed to the north domatic；Switch tracks on 112. terraces track；Switch tracks under 113. terraces track；Switch tracks on 114. terraces robot；116. steering base；117. docking tracks；118. strut；Switch tracks under 119. terraces robot；121. electric expansion mechanical arms；Facade track in 122.；123. alien invasion tracks；124. interior rotating shafts；Transition in 126.；127. vertical outer shafts；128. outer transitions；129. rotatable glass plates；131. glass plate inclination-angle regulating devices；132. driving；133. blower assy；134. flat-top terraces；135. take the lead bar；136. steel wire reels；137. steel wire；138. steel wire hoist engines；153. slot-type optical collector；154. element；156. water tank；157. element cleaners；158. guard shield；159. vacuum cleaner；160. cloth flexible cables.

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 insulation supporting parts 6；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 electrically connected with power transmission and transformation device by output wire ends 30 and electrical outlets 15.Insulation supporting parts 6 is made with steel, containing an insulant watt between itself and track 3, it is achieved track 3 and the electric insulation of 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 uses thin-wall stainless steel steel pipe 9 to make, stainless-steel pipe good weatherability.Labelling 11 is made on steel pipe 9.Labelling 11 includes making by the black chromium labelling technique on stainless rule.A part in labelling 11 can also use 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 welded bands female connection end 12 and with externally threaded connection end 13；Each spanner is coordinated to connect with spanner groove 14 on two connection ends 12,13.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 used 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 insensitive to expanding with heat and contract with cold of track 3 with basic without arranging in the middle part of track 3.

General photovoltaic robot includes electronic wheels 16, frame 17 and the functional 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.

Frame 17 cleaning module installed above 18 i.e. frame 17 is rigidly connected cleaning module 18；The lower section of frame 17 is connected with four groups of ground wheels 21 by four ground wheel steering mechanism 19.Ground wheel steering mechanism 19 can individually rotate ground wheels 21；Ground wheels 21 brake device also can advance or retreat；On the basis of ground wheels 21 are parallel with electronic wheels 16, the slewing area of ground wheel steering mechanism 19 is positive and negative 120 degree.Frame 17 the most also installs a negative pressure source 22 and a photographic head 23.Photographic head 23 band mechanical adjustment arm.General photovoltaic robot brush 24 is electrically connected with track 3, and one group of two track 3 is connected with two electrodes of power supply 25 by transmission of electricity wiring.Cleaning module 18 form a circuit loop with brush 24 at 26, two tracks 3, two of electric loading and power supply 25.Brush 24 includes electrographite brush.

Include that the electric device run on two tracks 3 on adjacent two row's photovoltaic system stands 1 includes that plantation cultivates robot at track 3；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 does not limits, including unidirectional current scope 12 to 300 volt.Cleaning module 18 include substrate 27, be 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；Cleaning from left to right if substrate switching mechanism 31 is allowed to adapt to this row of reverse direction operation for 180 degree of upset substrates 27, 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 is in transmission connection with substrate 27；The main body of substrate switching mechanism 31 promotes drive mechanism 32 by an one-dimensional movement vice mechanism and one and is connected with riser 33；Promote drive mechanism 32 and include electronic screw mandrel and pneumatic driving element, promote drive mechanism 32 and the substrate switching mechanism 31 at the substrate 27 two ends central axis along riser 33 together with substrate 27 can be driven to promote；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.It is provided with, on sensitive wheel 28, 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 hydrops at photovoltaic module 2 frame 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 water distribution clean cloth cylinder 38, long mouth water absorbing nozzle 39 and the Wiper blade 41 of washing cleaning device.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 can strongly 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 the longest, the fabric width of cleaning member is that the north-south length of a photovoltaic module 2 of several points, i.e. cleaning member are divided and cleaned described photovoltaic module 2 several times.Exhaustor connects with negative pressure source 22 through control valve；Feed pipe is connected with water source by control valve.Negative pressure source 22 includes using Laval-cavity nozzle and electric vacuum pump.

Water distribution clean cloth cylinder 38 includes internal central siphon 42, the coaxial package water distributor 43 outside central siphon 42 and the clean cloth material 44 of parcel water distributor 43.Water distributor 43 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 that diameter determines according to field requirement, contains the permeable through hole of 0.2 to 1 a diameter of 0.6 to 1 millimeter including per square centimeter on average.The outside dimension scope of water distribution clean cloth cylinder 38 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 includes being bonded on water distributor 43.Clean cloth material 44 includes nylon yarn, stainless steel silk, Retinervus Luffae Fructus, weaving material, hairbrush and combinations thereof.The preferred size of water distribution clean cloth cylinder 38 includes: central siphon 42 external diameter 27 millimeters；The reinforcement of wall thickness 0.4 millimeter, some of surface band 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 use 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, the velocity interval that water distribution clean cloth cylinder 38 surface each point is brought by rotation is 0.1 to 2 meter per second.When water distribution clean cloth cylinder 38 surface uses 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 uses 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 that 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 all connected with computer control system governor circuit 56 signal by 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, photovoltaic module 2 the most damaged from the distance of photovoltaic module 2, photovoltaic module 2 has the state of obvious dirt foreign material and hot spot, current photovoltaic module 2 to include whether the data of the seam between the photovoltaic module in adjacent front and clearance conditions and database purchase have obvious difference above.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 cause the equipment shock to photovoltaic module 2.Use sensitivity wheel 28, can be 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 after shovel board 34 arrives above next block photovoltaic module, then adjust back shovel board 34 and be allowed to normally work.

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 cleans 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 from track 3 on upper rail platform 4, directly drive towards the photovoltaic module on opposite, or wheel steering mechanism 19 rotates ground wheels 90 degree one by one by ground, drive towards next row photovoltaic module 2 the most straight, traveling limit, limit provides self-position by machine vision photographic head 23, and the range data to next row photovoltaic module 2 that data base wherein can also be utilized to store instructs and travels.Under the supervision of photographic head 23, robot cleaner for photovoltaic module reaches the upper rail platform 4 of next row photovoltaic module 2, again by ground, wheel steering mechanism 19 turns 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.Robot cleaner for photovoltaic module can also drive at next row photovoltaic module according to semicircular arc track by the way of turning round and reach 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 long air outlet and the round of 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 used, by collection snow carrying scene；6) omit sensitive wheel 28 below or omit all sensitive wheels 28；7) existing technology is used to include window cleaner.

Hair-dryer includes drifting dust, blows dirt and blowing snow parts, and usual hair-dryer coordinates with dust suction, soil pick-up and suction snow parts；Drifting dust, blow dirt and dust, dirt and accumulated snow are blown afloat by blowing snow parts, it is simple to siphoned away by dust suction, soil pick-up and suction snow parts；

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 additionally configure other power supplys and include that power accumulator is 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.

In embodiment 2, photovoltaic generating system includes photovoltaic module 2, power transmission and transformation device and the computer control system that stand 1, dotted line mark.Cushion block 57 is set in the both sides of photovoltaic generating system and by insulation supporting parts 6, one group of two parallel steel tube track 3 of connection is installed on cushion block 57.At least track 3 is connected installation with extraneous electric insulation；One group of two track 3 and two electrodes electrical connections of 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 use 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, wheelbar-row type electric device does not the most use bridging frame.

The electronic wheels of assembly 62 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 assembly electronic wheels 62 to drive operation；The electronic wheels of assembly 62 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 be as driving wheels；Side wheel 64 is additionally operable to retrain the locus of cleaning module 18.In Fig. 9, broken circle partial cutaway shows that display roller or ball are from above and the frame 59 of side and photovoltaic module 2 coordinates and makees rolling and be connected.Frame 59 includes shaped metal frame；Computer control system changes the spatiality of cleaning module 18 by change hoist engine 61 and cable 58, is allowed to adapt with the spatiality of photovoltaic module 2 and fit on photovoltaic module 2.

The electronic wheels of assembly 62 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.In the way of the polylith photovoltaic module 2 of multiple cleaning module 18 or the neighbouring layout of a row can being used to use a cleaning module 18 to use one piece of photovoltaic module 2.A moving sets mechanism 65 being slidably connected with frame 17 and move back and forth along frame about 17 can also be used, and connects a horizontal cleaning module 18 by moving sets mechanism 65, photovoltaic module 2 is cleaned as described by the right of Figure 10.The advantage of embodiment 2 includes: install the most 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 use and between cleaning module 18 with substrate 27, use 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 therewith can also be used.

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 holding of beating at the volley.One dust cover can also be set for current collector, keep brush and magnetic roller cleaning；Before and after current collector, cleaning brush can also be configured in side, be included in the outside configuration cleaning brush of dust cover.

Figure 12 and 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 uses one to roll, with shaped steel track 3 side, the electronic wheels 16 being connected and is driven；And use 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, using 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 use the electronic wheels of current collector and/or brush to realize power taking with shaped steel track 3 electrical connection.

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 cleaning module 18 with its power transmission line, it is possible to achieve cleaning module 18 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 that the electronic wheels of wheelbar-row type electric device are or/and brush；Power taking assembly is electrically connected cleaning module by power transmission line；Power taking assembly runs simultaneously independent from row cutting and with cleaning module；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 connected by insulation supporting parts, the connected mode of embodiment 3 and embodiment 5 track the most freely includes being connected with basis from above；The track of embodiment 3 and embodiment 5 can be arranged by specular and include that plane mirror picture is arranged symmetrically with on the basis of the vertically symmetrical central plane of column 7 or insulant 68.Do so can provide the linkage interface of two and electronic wheels simultaneously.Its purposes includes making the photovoltaic green-house terrace lower railway introduced below.

Figure 14 provides embodiment 6.

In embodiment 6, photovoltaic module 2 top frame 59 towards above and/or lateral surface uses insulation mode to connect to be included on frame 59 one layer of insulant of bonding bond on the insulating material a sheet metal or shape 74, double as track and high potential track-like transmission of electricity bus, i.e. sheet metal or shape 74 had both assembled with the assembly Electric Motor Wheel of electric device to close to roll and had been connected, and was 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 uses 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 use 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 uses a sheet metal or the shape of insulation mode connection, can also be directly bonded on the glass plate of double glass dual light photovoltaic assemblies of Rimless, need 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 use common electric device to include the electric device of the band photovoltaic module clean facilities road traveling at photovoltaic system scene, at this moment, the sheet metal described in embodiment 6 or shape 74 track-like transmission of electricity bus is used to obtain the electric energy required for relevant electric device.

Figure 15 and 16 provides embodiment 7 jointly.

Prior art is installed photovoltaic battery panel and is generally retained artificial access path on color steel tile roof.Use 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 thoroughly and has Stilt layer in summer due to shading, at most can reduce 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 at most can be saved for every square metre；Night in winter can reduce room temperature lowering 3 to 10 DEG C due to minimizing radiation compared with monolayer color steel tile.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 uses angle steel horizontal frame array 76 to install.Frame array 76 includes several assembly installing spaces 79 that the shaped steel 78 that short column 77, cross section are inverted T shape is constituted, and 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 include rack and other constituted with bar, pipe, plate for element, for the lightweight framework body of transmission of power.Water leg 86 is set in the underface of photovoltaic module 2 four edges, for the rainwater received from the infiltration of photovoltaic module aperture and these rainwater is discharged.

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

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 partly track 3 is installed with external insulation；Two adjacent tracks 3 all electrodes with a power supply are connected to 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 is connected with negative pressure source, can draw or discharge the object that the glass plate of photovoltaic module 2 is the most smooth.

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 with plug-in mechanical arm 88 and checks by being included in described photovoltaic module 2 normal by output during illumination by general photovoltaic robot 87, puts down the appointment position of photovoltaic module 2 to frame array 76.So persistently it is 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, without grid structure body 84, but directly can be 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 northern China many places hydropenia, frost-free period desert and semidesert not water short, some place are the most permeable serious or because stone be not suitable for more farming, conditions of existence harsh cause local agricultural workforce to lack, also some local subsoil water arsenic content high.Should be during implementing photovoltaic generation, 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 between column stand 1, photovoltaic module 2, general photovoltaic robot 87, row and stand.Big broken circle is to the amplification at little broken circle: connect the opening tubular slide rail 94 including manufacturing with laser welding aluminium section bar on photovoltaic component frame 59.Opening tubular slide rail 94 can be made up of, with linkage interface the pipeline of a bandwidth seam.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 in both sides embedded type slide block 95；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 is made to form the photovoltaic green-house terrace of a Guan Bi together with photovoltaic module 2；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 used to arrange the above agricultural film of two-layer.Opening tubular slide rail 94 and embedded type slide block 95 can also be made accommodation, including using 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 of band 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 be connected through described through hole with described internal thread hole with a fixing screw, i.e. lockable slider 95 and agricultural film 96 is 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, sunshade can be realized in summer.

Rainwater is collected being in setting or one section of water leg 86 of integral production below the aluminum section of photovoltaic component frame of 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 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.

The photovoltaic generating system of the belt track of agricultural film, the rainwater on photovoltaic module 2 is not used to be directly entered water leg 86.

In Figure 17 embodiment 8, two set tracks are used to include the track 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 is connected of supporting parts that insulate 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 agricultural robot 92 agricultural robot of operation between two row's stands 1 between the row of operation.Between row, agricultural robot 92 includes agricultural robot computer control system between operation module 102, mechanical arm type current collector 73 and the row that the track girder 101 that front and rear row ground wheels 21, chassis are connected is connected with track girder 101 with chassis.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, specifically refers 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, to plough, gather in be 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.

In also setting up aerial cable 103 inside column stand 1 and running stand, agricultural robot 93 is at the agricultural robot of stand 1 inside processing.In stand, agricultural robot 93 includes operation module 102, pantograph 104 and the ground connection roller 105 that the track girder 101 that ground wheels 21, chassis are connected is connected with track girder 101 with chassis.Ground connection roller 105 uses 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 using intelligence degree high substitutes in a large number manually, utilizes the agricultural film being connected with photovoltaic module to extend frost-free period, utilize 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.

Northern China many places rain hotsync, 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 terms of actual efficiency 50%, the rice field of area as rainwater-collecting photovoltaic generating system then can be made to increase 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 be while implementing photovoltaic generation, build a large amount of facility farmland, be included in desert and use geotextiles to constitute plantation block the facility farmland using 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, the beneficially popularization of solar electrical energy generation.

The glass photovoltaic green-house on band 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.By lasting wiping terrace and the condensation water of facade interior surface, the terrace facade actual transmitance of sunlight in the winter time can be effectively improved, improve the existing booth low light level, low temperature, the situation of high humidity.And likely realize in the case of terrace 50% arranges lighttight photovoltaic cell, still obtain and commonly do not carry out the identical illumination of inner surface wiping and planting effect.

Figure 18 to 20 provides embodiment 9 jointly.

In embodiment 9, the photovoltaic generating system of belt track is that pinnacle glass light more than lies prostrate booth 97, including Steel Structure 107, facade 108, the pinnacle terrace of band 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；At photovoltaic green-house 97, track 3 and the track that switches tracks internally and/or externally are set；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 refers 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 Electric Motor Wheel groups 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, use Steel Structure 107 and run, switching tracks, the robot that switches tracks on track.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 electronic wheels that the robot 114 that switches tracks on the terrace on the upside of terrace includes 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 on the track 3 from terrace to switch tracks on interfaced terrace on robot 114 docking track 117 or drive on track 3 from docking track 117.Load the robot 114 that switches tracks on the terrace of general photovoltaic robot 87 track 112 that can switch tracks along terrace on docking track 117 travel and make its docking track 117 dock towards another two tracks 3 of group domatic with on terrace as, in order to 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 towards 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 by the state of described regulation strut regulation docking track 117 without steering base 116.Present dynasty south domatic 109 from be exposed to the north domatic 111 track 3 fabric width different time, need 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；The most 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 electronic wheels, electric expansion mechanical arm 121 and two docking tracks 117 that the robot 119 that switches tracks under the terrace switched tracks under terrace on track 113 includes 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 uses 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 may be adjusted to integrate with two tracks 3 of any group of under terrace.General photovoltaic robot 87 under terrace can directly drive to switch tracks under interfaced terrace robot 119 docking track 117 or drive on track 3 from docking track 117 from track 3.Load the robot 119 that switches tracks under the terrace of general photovoltaic robot 87 on docking track 117 first to lower the obstruction that figure avoids being exposed to the north domatic 111 bottoms towards south domatic 109, then travel along the track 113 that switches tracks under terrace, recover figure by electric expansion mechanical arm 121 again after putting in place and make its docking track 117 dock towards another domatic row's track 3 as under terrace, in order to its general photovoltaic robot 87 loaded can directly drive to docked track 3.

The robot 119 that switches tracks under terrace completes general photovoltaic robot 87 and turns to towards domatic in difference, can directly realize when putting down figure and recovering figure.It is naturally required that the relevant parts of general photovoltaic robot 87 include that cleaning module 18 is insensitive to the exchange of self two ends.Present dynasty south domatic 109 from be exposed to the north domatic 111 track 3 fabric width different time, need configuration can regulate under the terrace of docking track 117 fabric width to switch tracks robot 119.

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, coordinate, transmit the gravity of general photovoltaic robot 87 including rolling with the electronic wheels 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 use 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 are changed the most accordingly.

Inside each turning that adjacent facade 108 in photovoltaic green-house 97 intersects, it is provided with a rotating shaft 124 interior, interior rotating shaft 124 connects one section of interior transition 126 docked with the interior facade track 122 of adjacent two facades；In in vertically, which the interior transition 126 in rotating shaft 124 turns at facade track 123, 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；Vertically which alien invasion track 123 the outer transition 128 on outer shaft 127 turns at, 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 interior facade track 122 and the attribute of 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 arrange 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 be inside rotatable glass plate 129 or outer surface arranges mirror surface to strengthen luminous reflectance effect.Mirror surface includes high emissivity aluminium sheet and aluminized plastic film；The mode that mirror surface posts includes using transparent silica gel bonding.

Photovoltaic green-house 97 configures a driving 132；Driving 132 includes that electronic wheels, track-like transmission of electricity bus, crane beam roll 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 respectively and connects.The linkage interface being connected with the robot 114 that changes gear on terrace it is provided with, it is possible to be connected with the robot 114 that changes gear on terrace by described linkage interface on crane beam.

When photovoltaic green-house 97 terrace accumulated snow, moving back and forth towards south domatic 109 and being exposed to the north on domatic 111 with blower assy 133, accumulated snow is being 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, using 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, the inclination angle that sky wears 1 to 14 ° can be made.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 in addition to flat-top terrace 134, remaining content can refer to embodiment 9.Flat-top terrace can arrange double 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 uses 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 with steel wire 137 by cable；Steel wire hoist engine 138 links with steel wire reel 136, can 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 preferred ranges 0.3 to 0.6 millimeter；Spacing between adjacent wires preferably 8 to 11 millimeters；The aperture preferred value of braided steel wire mesh is that the bead of 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.General photovoltaic robot 87 is run on track 3；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 is electrically connected with track 3.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 drive mechanism 32；Promote drive 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 refers 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 water distribution clean cloth cylinder 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 with aerial cable 103 by pantograph 104.Mount more than one blower assy 133 and cleaning module 18, at least blower assy 133 with hoist engine by cable 58 in frame 17 to cover 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 is waved as flag is 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, (relevant content refers to previous embodiment) is cleaned in photovoltaic module 2 surface by cleaning module 18 further.

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

Claims (2)

1. a general photovoltaic robot, is characterized in that including frame, electronic wheels, functional facilities, electrokinetic cell and computer control module；Electronic wheels on two metal tracks are connected in one by cross connection type frame, and functional facilities includes cleaning module and photographic head；Cleaning module includes one piece of cleaning cloth or one piece of scraper plate；Scraper plate includes the windscreen wiper of vehicle wiper；Functional facilities is connected with the cable hung down in frame；Electronic wheels include the electronic wheels of the track travelling on track and the electronic wheels of assembly travelling on assembly；The electronic wheels of assembly include that front wheel and side are taken turns；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 run simultaneously with the electronic wheels of assembly；Computer control system changes the spatiality of cleaning module by cable.

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