CN104124914A - Rotary decoupling biaxial solar condenser parallel tracking mechanism - Google Patents

Rotary decoupling biaxial solar condenser parallel tracking mechanism Download PDF

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Publication number
CN104124914A
CN104124914A CN201410317715.XA CN201410317715A CN104124914A CN 104124914 A CN104124914 A CN 104124914A CN 201410317715 A CN201410317715 A CN 201410317715A CN 104124914 A CN104124914 A CN 104124914A
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CN
China
Prior art keywords
chain
kinematic pair
platform
connector
moving platform
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CN201410317715.XA
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Chinese (zh)
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CN104124914B (en
Inventor
吴军
陈晓磊
于广
王立平
李铁民
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清华大学
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/50Photovoltaic [PV] energy

Abstract

The invention relates to a rotary decoupling biaxial solar condenser parallel tracking mechanism and belongs to the field of machine manufacturing. The rotary decoupling biaxial solar condenser parallel tracking mechanism comprises a fixed platform, a movable platform, a first support chain and a second support chain, wherein the movable platform is used for mounting a solar condenser. The fixed platform comprises a base, a limit support chain with the top end provided with a Hooke hinge a, and two stand columns or hinges with movable pairs or rotary pairs; the movable platform is connected to the fixed platform through the limit support chain and further connected with the fixed platform through the first support chain and the second support chain to form a parallel mechanism; the movable platform can rotate around the outer circle and the inner circle of the Hooke hinge wound on the limit support chain, namely, obtains two degrees of freedom, and meanwhile, the two rotation motions of the movable platform are decoupled. The rotary decoupling biaxial solar condenser parallel tracking mechanism has the advantages of being high in rigidity and dynamic performance, low in energy consumption and the like.

Description

A kind of two axle solar concentrators follower in parallel that rotates decoupling zero
Technical field
The invention belongs to mechanical manufacturing field, particularly a kind of two axle solar concentrators follower in parallel that rotates decoupling zero.
Background technology
The energy is the material base that the mankind depend on for existence and development, and the fast development of human society is also accompanied by a large amount of consumption of the energy, causes the traditional energy such as oil, coal to be petered out, and utilizing solar power generation is an effective way that solves energy problem.In order to utilize solar energy to carry out photo-thermal power generation, just need to assemble sunlight, obtain high density luminous energy.Conventionally utilize the solar motion of solar concentrator real-time tracking, assemble sunlight.Concentrator is followed the tracks of solar motion and is realized by follower, and follower is an automatic mechanical hand normally, and it follows the tracks of sun precision is a key factor that affects concentrator light gathering efficiency.Based on follower mechanical property, follower can be divided into uniaxiality tracking mechanism and two-axis tracing mechanism.Because uniaxiality tracking mechanism generally can only realize the solar tracking of a direction, and the angle of the thing to the sun and North and South direction changes and carries out from motion tracking simultaneously, causes concentrator minute surface to absorb sunlight efficiency lower.Two-axis tracing mechanism can ensure the high-precision tracking sunlight motion at all seasons of concentrator minute surface, obtains higher light gathering efficiency.
Two-axis tracing mechanism drives cylindrical upright bar to rotate by being arranged on underground excitation conventionally, realizes solar azimuth angle tracking; Another one rotating shaft is arranged on the top of vertical bar, and the concentrator back side is fixed on this rotating shaft, realizes altitude of the sun angle tracking.This follower principle is simple, but has the defects such as rigidity is low.Therefore, some scholars have proposed local improvement measure, as direct employing rotating platform replaces vertical bar structure, adopts hydraulic-driven to replace motor and gear train etc.But, these two-axis tracing mechanisms are still based on serial mechanism exploitation, due to large-sized solar concentrator physical dimension and weight large, add the impact of the external applied load such as dust storm, often need to design a heavy follower and support concentrator to obtain higher rigidity.Thereby, high-power excitation need to be installed and drive follower, cause system not move with optimal power, energy consumes huge.In addition, due to heavy load and moment, the driver element that comprises many sleeve gears transmission mechanism itself is also a heavy unit, and often need to heavy counterweigh concentrator weight be installed on vertical bar rotating shaft top, and all these all cause, and system capacity consumption is large, cost is high.
Summary of the invention
The object of the invention is in order to improve the problems such as complex structure, the rigidity of tradition series connection follower are low and energy consumption is large, a kind of two axle solar concentrator followers based on parallel institution have been proposed, utilize the characteristic of the high rigidity of parallel institution, heavy load, compact conformation, can effectively reduce the size of follower, improve the rigidity of follower, and ensureing, under the prerequisite of precision, to reduce energy consumption.
The technical solution adopted for the present invention to solve the technical problems is:
A two axle solar concentrators follower in parallel that rotates decoupling zero, is characterized in that, this mechanism comprises a fixed platform, one the moving platform of solar concentrator is installed, and the first side chain and the second side chain; Described fixed platform comprises: pedestal, a top have the restriction side chain of Hooke strand a, and two column or hinges with moving sets or revolute pair; Moving platform is connected on fixed platform by restriction side chain, and is further connected with fixed platform with the second side chain by the first side chain, forms parallel institution; Hooke on restriction side chain twists the outer ring of a to described moving platform respectively, the rotation axis of inner ring rotates, and have two rotational freedoms, and two rotational motions is decoupling zeros.
Described the first side chain comprises: the first input component, the first connector, and kinematic pair b, c, d, first input component one end is connected with fixed platform by kinematic pair b, and the other end is connected with first connector one end by kinematic pair c, the first connector other end is connected with moving platform by kinematic pair d, and wherein kinematic pair b is secondary for driving.
Described the second side chain comprises: the second input component, the second connector, and kinematic pair e, f, g, second input component one end is connected with fixed platform by kinematic pair e, and the other end is connected with second connector one end by kinematic pair f, the second connector other end is connected with moving platform by kinematic pair g, and wherein kinematic pair e is secondary for driving.
Described restriction side chain twists a by Hooke and is connected with moving platform, and the first side chain is connected with moving platform with secondary g of ball by secondary d of ball respectively with the second side chain, and the inner ring rotation axis of Hooke strand a is by the centre of sphere of secondary g of ball.
Follower of the present invention neutralizes the driving pair in the second side chain by described the first side chain, drives respectively the inside and outside circle rotation axis of the Hooke strand a of moving platform on restriction side chain to rotate, thereby adjusts the attitude of moving platform.In the time that the azel of the sun on high changes, can, by adjusting the attitude of moving platform, sunray can be impinged perpendicularly on the minute surface of solar concentrator all the time, thereby improve solar energy utilization ratio.
The invention has the beneficial effects as follows:
The present invention realizes the function of series connection two-axis tracing mechanism tracking solar azimuth and elevation angle by the rotation of two decoupling zeros.There is the feature of simple, the high rigidity of mechanism and low energy consumption, can realize series connection follower solar angle following function, combine the characteristic of parallel institution, series connection follower complex structure, rigidity is low and energy consumption is large problem are improved, can be in the situation that ensureing mechanism performance, dwindle follower size, reduce costs, reduce energy consumption.
Brief description of the drawings
Fig. 1 is the structural representation of first embodiment of the invention;
Fig. 2 is the structural representation of the fixed platform in first embodiment of the invention;
Fig. 3 is the structural representation of the first side chain in first embodiment of the invention;
Structural representation when Fig. 4 is first embodiment of the invention installation solar concentrator;
Fig. 5 is the structural representation of second embodiment of the invention;
Fig. 6 is the structural representation of the fixed platform in second embodiment of the invention;
Fig. 7 is the structural representation of the first side chain in second embodiment of the invention;
In figure: 11-fixed platform, 12-moving platform, 13-the first side chain, 14-the second side chain, 15-solar concentrator, 111-pedestal, 112-restriction side chain, 113-the first column, 114-the second column, 131-the first input component, 132-the first connector, 141-the second input component, 142-the second connector, a1-Hooke strand, b1, c1, d1, e1, f1, g1-kinematic pair,
21-fixed platform, 22-moving platform, 23-the first side chain, 24-the second side chain, 25-solar concentrator, 211-pedestal, 212-restriction side chain, 213-hinge, 214-column, 231-the first input component, 232-the first connector, 241-the second input component, 242-the second connector, a2-Hooke strand, b2, c2, d2, e2, f2, g2-kinematic pair.
Embodiment
The two axle solar concentrators followers in parallel of the rotation decoupling zero that the present invention proposes by reference to the accompanying drawings and embodiment be described in detail as follows:
A kind of two axle solar concentrators follower in parallel that rotates decoupling zero that the present invention proposes, is characterized in that, this mechanism comprises a fixed platform, one the moving platform of solar concentrator is installed, and the first side chain and the second side chain; Described fixed platform comprises: pedestal, one are connected with moving platform, and top has the restriction side chain of Hooke strand a, and two column or hinges with moving sets or revolute pair; Described moving platform is connected on the restriction side chain with Hooke strand a, and is further connected with fixed platform with the second side chain by the first side chain, forms parallel institution; Hooke on restriction side chain twists the outer ring of a to described moving platform respectively, the rotation axis of inner ring rotates, and have two rotational freedoms, and two rotational motions is decoupling zeros.
Described the first side chain comprises: the first input component, the first connector, and kinematic pair b, c, d, first input component one end is connected with fixed platform by kinematic pair b, and the other end is connected with first connector one end by kinematic pair c, the first connector other end is connected with moving platform by kinematic pair d, and wherein kinematic pair b is secondary for driving.
Described the second side chain comprises: the second input component, the second connector, and kinematic pair e, f, g, second input component one end is connected with fixed platform by kinematic pair e, and the other end is connected with second connector one end by kinematic pair f, the second connector other end is connected with moving platform by kinematic pair g, and wherein kinematic pair e is secondary for driving.
Restriction side chain twists a by Hooke and is connected with moving platform, and the first side chain is connected with moving platform with secondary g of ball by secondary d of ball respectively with the second side chain, and the inner ring rotation axis of Hooke strand a is by the centre of sphere of secondary g of ball.Hooke on restriction side chain twists the outer ring of a to moving platform in this mechanism respectively, the rotation axis of inner ring rotates, and have two rotational freedoms, and two rotational motions is decoupling zeros.
In the time of real work, by the secondary e of driving in secondary b of driving and the second side chain in described the first side chain, drive the first input component and the second input component to move on fixed platform column or hinge, by the first connector and the second connector, drive respectively the rotation axis of the inside and outside circle of the Hooke strand a of moving platform on restriction side chain to rotate, realize the rotational motion of two decoupling zeros of moving platform, thereby adjust the attitude of moving platform.In the time that the azel of the sun on high changes, can, by adjusting the attitude of moving platform, sunray can be impinged perpendicularly on the minute surface of solar concentrator all the time, thereby improve solar energy utilization ratio.
As shown in Figure 1, 2, this mechanism comprises that 11, one of fixed platforms can install the moving platform 12 of solar concentrator to first embodiment of the present invention structure, and the first side chain 13 and the second side chain 14; The pedestal 111 of described fixed platform 11 is isosceles right triangle, has a restriction side chain 112 with Hooke strand a1 at summit, right angle place, and restriction side chain 112 one end are connected on pedestal 111, and the other end twists a1 by Hooke and is connected on moving platform 12; There are respectively first column 113 with moving sets and the second column 114 at another two summits place of fixed platform 11, the first column 113 and second column 114 one end are connected on pedestal 111, and the other end is connected with the first side chain 13 and the second side chain 14 respectively by moving sets; Described moving platform 12 is isosceles right triangle, summit, right angle place is connected on above-mentioned restriction side chain 112, and can rotate around the rotation axis of the inside and outside circle that limits the Hooke strand a1 on side chain 112, another two summits place is connected with the first side chain 13, the second side chain 14 respectively by kinematic pair d1, kinematic pair g1; The first side chain 13 is structurally identical with the second side chain 14, is 90 degree arranges in space.As shown in Figure 1,3, described the first side chain 13 comprises: the first input component 131, the first connector 132 and kinematic pair b1, c1, d1, first input component 131 one end are connected with the first column 113 by kinematic pair b1, kinematic pair b1 is the moving sets driving, and the other end is connected with first connector 132 one end by kinematic pair c1, and kinematic pair c1 is passive ball pair, first connector 132 other ends are connected with moving platform 12 by kinematic pair d1, and kinematic pair d1 is passive ball pair; Described the second side chain 14 comprises: the second input component 141, the second connector 142 and kinematic pair e1, f1, g1, second input component 141 one end are connected with the second column 114 by kinematic pair e1, kinematic pair e1 is the moving sets driving, the other end is connected with second connector 142 one end by kinematic pair f1, kinematic pair f1 is passive ball pair, and second connector 142 other ends are connected with moving platform 12 by kinematic pair g1, and kinematic pair g1 is passive ball pair.Restriction side chain 112 twists a1 by Hooke and is connected with moving platform 12, and the first side chain 13 is connected with moving platform 12 with secondary g1 of ball by secondary d1 of ball respectively with the second side chain 14, and the inner ring rotation axis of Hooke strand a1 is by the centre of sphere of secondary g1 of ball.As shown in Figure 4, on moving platform 12, directly fixedly mount solar concentrator 15.
As shown in Figure 5,6, this mechanism comprises that 21, one of fixed platforms can install the moving platform 22 of solar concentrator to the second embodiment of the present invention, and the first side chain 23 and the second side chain 24.The pedestal 211 of described fixed platform 21 is isosceles right triangle, has a restriction side chain 212 with Hooke strand a2 at summit, right angle place, and restriction side chain 212 one end are connected on pedestal 211, and the other end twists a2 by Hooke and is connected on moving platform 22; There are respectively a hinge 213 with revolute pair and a column 214 with moving sets at another two summits place of fixed platform 11, hinge 213 one end are connected on pedestal 211, the other end is connected with the first side chain 23 by revolute pair, column 214 one end are connected on pedestal 211, and the other end is connected with the second side chain 24 by moving sets; Described moving platform 22 is identical with moving platform 12 structures in the first embodiment; The first side chain 23 and the second side chain 24 are 90 degree and arrange in space; As shown in Fig. 5,7, described the first side chain 23 comprises: the first input component 231, the first connector 232 and kinematic pair b2, c2, d2, first input component 231 one end are connected with hinge 213 by kinematic pair b2, kinematic pair b2 is the revolute pair driving, and the other end is connected with first connector 232 one end by kinematic pair c2, and kinematic pair c2 is passive ball pair, first connector 232 other ends are connected with moving platform 22 by kinematic pair d2, and kinematic pair d2 is passive ball pair; Described the second side chain 24 is identical with the second side chain 14 structures in the first embodiment.Restriction side chain 212 twists a2 by Hooke and is connected with moving platform 22, and the first side chain 23 is connected with moving platform 22 with secondary g2 of ball by secondary d2 of ball respectively with the second side chain 24, and the inner ring rotation axis of Hooke strand a2 is by the centre of sphere of secondary g2 of ball.

Claims (4)

1. a two axle solar concentrators follower in parallel that rotates decoupling zero, is characterized in that, this mechanism comprises a fixed platform, one the moving platform of solar concentrator is installed, and the first side chain and the second side chain; Described fixed platform comprises: pedestal, a top have the restriction side chain of Hooke strand a, and two column or hinges with moving sets or revolute pair; Moving platform is connected on fixed platform by restriction side chain, and is further connected with fixed platform with the second side chain by the first side chain, forms parallel institution; Hooke on restriction side chain twists the outer ring of a to described moving platform respectively, the rotation axis of inner ring rotates, and have two rotational freedoms, and two rotational motions is decoupling zeros.
2. mechanism as claimed in claim 1, it is characterized in that, described the first side chain comprises: the first input component, the first connector, and kinematic pair b, c, d, first input component one end is connected with fixed platform by kinematic pair b, and the other end is connected with first connector one end by kinematic pair c, the first connector other end is connected with moving platform by kinematic pair d, and wherein kinematic pair b is secondary for driving.
3. mechanism as claimed in claim 1, it is characterized in that, described the second side chain comprises: the second input component, the second connector, and kinematic pair e, f, g, second input component one end is connected with fixed platform by kinematic pair e, and the other end is connected with second connector one end by kinematic pair f, the second connector other end is connected with moving platform by kinematic pair g, and wherein kinematic pair e is secondary for driving.
4. the mechanism as described in claim 1,2 or 3, it is characterized in that, restriction side chain twists a by Hooke and is connected with moving platform, and the first side chain is connected with moving platform with secondary g of ball by secondary d of ball respectively with the second side chain, and the inner ring rotation axis of Hooke strand a is by the centre of sphere of secondary g of ball.
CN201410317715.XA 2014-07-04 2014-07-04 A kind of two axle solar concentrator parallel connection followers rotating decoupling CN104124914B (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104135223A (en) * 2014-07-17 2014-11-05 清华大学 Parallel two-shaft tracking mechanism of solar condenser
CN104317309A (en) * 2014-10-23 2015-01-28 清华大学 Two-degree-of-freedom solar condenser parallel connection tracking mechanism
CN106026879A (en) * 2016-07-14 2016-10-12 清华大学 Two-axis solar concentrator tracking mechanism and solar power generation device provided with same
CN106301176A (en) * 2016-08-26 2017-01-04 清华大学 A kind of big angle rotary condenser support frame mechanism
CN106301177A (en) * 2016-08-26 2017-01-04 清华大学 A kind of two-freedom rotates hard and soft series-parallel connection condenser support frame mechanism
CN108988774A (en) * 2018-08-28 2018-12-11 清华大学 A kind of laborsaving high rotation angle degree parallel connection solar concentrator follower

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CN101058186A (en) * 2007-05-18 2007-10-24 燕山大学 Two rotation decoupling parallel robot mechanism
CN101249651A (en) * 2008-04-09 2008-08-27 东华大学 Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN103286778A (en) * 2013-05-24 2013-09-11 燕山大学 Two-DOF (two degrees of freedom) rotation decoupling parallel mechanism
CN103663330A (en) * 2012-09-26 2014-03-26 佳木斯大学 Parallel-type offshore refueling docking mechanism

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101058186A (en) * 2007-05-18 2007-10-24 燕山大学 Two rotation decoupling parallel robot mechanism
CN101249651A (en) * 2008-04-09 2008-08-27 东华大学 Decoupled false shaft machine tool and two-rotary and one-moving parallel connection mechanism
CN103663330A (en) * 2012-09-26 2014-03-26 佳木斯大学 Parallel-type offshore refueling docking mechanism
CN103286778A (en) * 2013-05-24 2013-09-11 燕山大学 Two-DOF (two degrees of freedom) rotation decoupling parallel mechanism

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104135223A (en) * 2014-07-17 2014-11-05 清华大学 Parallel two-shaft tracking mechanism of solar condenser
CN104135223B (en) * 2014-07-17 2016-07-06 清华大学 A kind of also di-axle solar concentrator follower
CN104317309A (en) * 2014-10-23 2015-01-28 清华大学 Two-degree-of-freedom solar condenser parallel connection tracking mechanism
CN106026879A (en) * 2016-07-14 2016-10-12 清华大学 Two-axis solar concentrator tracking mechanism and solar power generation device provided with same
CN106026879B (en) * 2016-07-14 2018-12-11 清华大学 Two axis solar concentrator followers and the device of solar generating with it
CN106301176A (en) * 2016-08-26 2017-01-04 清华大学 A kind of big angle rotary condenser support frame mechanism
CN106301177A (en) * 2016-08-26 2017-01-04 清华大学 A kind of two-freedom rotates hard and soft series-parallel connection condenser support frame mechanism
CN108988774A (en) * 2018-08-28 2018-12-11 清华大学 A kind of laborsaving high rotation angle degree parallel connection solar concentrator follower

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