CN106301176A - A kind of big angle rotary condenser support frame mechanism - Google Patents

A kind of big angle rotary condenser support frame mechanism Download PDF

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Publication number
CN106301176A
CN106301176A CN201610742263.9A CN201610742263A CN106301176A CN 106301176 A CN106301176 A CN 106301176A CN 201610742263 A CN201610742263 A CN 201610742263A CN 106301176 A CN106301176 A CN 106301176A
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CN
China
Prior art keywords
chain
rod
moving platform
frame
revolute pair
Prior art date
Application number
CN201610742263.9A
Other languages
Chinese (zh)
Inventor
吴军
王立平
张彬彬
许天睿
吴昊
Original Assignee
清华大学
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Publication date
Application filed by 清华大学 filed Critical 清华大学
Priority to CN201610742263.9A priority Critical patent/CN106301176A/en
Publication of CN106301176A publication Critical patent/CN106301176A/en

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02SGENERATION OF ELECTRIC POWER BY CONVERSION OF INFRA-RED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S20/00Supporting structures for PV modules
    • H02S20/30Supporting structures being movable or adjustable, e.g. for angle adjustment
    • H02S20/32Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
    • 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

A kind of big angle rotary condenser support frame mechanism, it includes condenser, moving platform, frame, the first side chain, the second side chain, the 3rd side chain and passive side chain;Three described side chains and passive side chain are connected between frame and moving platform, with frame and moving platform Special composition close loop mechanism.By driving the first and second side chains can realize moving platform spinning motion vertically, drive the 3rd side chain can realize the elevating movement of moving platform, so that the condenser being arranged on moving platform completes to follow the tracks of solar motion.This mechanism connects the rotating 180 degs respectively of two revolute pairs between moving platform and passive side chain and 360 degree, reduces hinge and rotates the restriction impact for mechanism's work space, so that this support frame mechanism has high rotation angle degree.This mechanism reliability is strong, and serious forgiveness is high, in the case of an active branched chain is damaged wherein, still can realize relative motion, be suitable for outdoor work;Symmetrical configuration, easily realizes modularity, low cost of manufacture.

Description

A kind of big angle rotary condenser support frame mechanism
Technical field
The present invention relates to energy field, be specifically related to a kind of one that can be applied to support condenser tracking solar motion Big angle rotary mechanism.
Background technology
Along with the sustainable growth of traditional energy consumption, the scarcity of fossil equal energy source is more and more obvious.Along with fossil energy Increasingly exhausted trend, large-scale development regenerative resource becomes urgent problem instantly.Solar energy be the mankind take no The regenerative resource exhausted, has sufficient spatter property, absolute safety and relative popularity, and it accounts in regenerative resource According to critical role.
Solar concentrator is a kind of practicable raising solar energy acquisition efficiency the equipment being used, and is also very The ingredient that many device of solar generating are indispensable.Solar concentrator passes through real-time tracking solar motion orientation so that Cell panel or condenser lens on follower can farthest absorb sunlight the most just to sunlight.At present according to The track system number of axle is classified, and can be divided into single shaft and twin shaft two kinds.Use uniaxiality tracking mode, the general only moment at high noon among one day Sunlight can impinge perpendicularly on cell panel or condenser lens, now collects heat energy energy density maximum;And in the morning or afternoon too Sunlight line is all oblique fire, now collects heat energy energy density less.The advantage of uniaxiality tracking is simple in construction, but due to incident illumination Line can not impinge perpendicularly on cell panel or condenser lens all the time, and the effect collecting solar energy is unsatisfactory.Use double-axis tracking mode, Whole day condenser lighting surface vertical sunray all the time can be realized, sunlight is carried out real-time tracking.
Tradition two axle condenser followers are usually serial mechanism, and two axle solar concentrator followers of connecting are general Use a vertical rotary shaft and one horizontally rotate axis mechanism, vertical rotary shaft is for supporting the load of whole mechanism, and drives Motion tracking mechanism completes the tracking of solar azimuth.Horizontal rotating shaft is arranged on the top of vertical rotary shaft, has been used for height The tracking at angle.Series connection follower design is simple, but is affected by the deflection constraint of material and structure, traditional series connection two axle sun Vertical axes that diameter is bigger can must be used to support cell panel or condenser lens by condenser follower, thus cause mechanism Cost increase.Condenser carries out operation the most out of doors simultaneously, is often subject to the boisterous impact such as dust storm, heavy rain, right The unfailing performance of follower has higher requirement.
Summary of the invention
It is an object of the invention to provide a kind of big angle rotary mechanism realizing following the tracks of solar motion for supporting condenser, This mechanism belongs to redundant unit, in the case of an active branched chain is damaged wherein, still can realize pursuit movement, has reliable Property strong, the feature that serious forgiveness is high, be suitable for outdoor work, this mechanism structure is symmetrical simultaneously, it is easy to manufacture, and easily realizes module Change, low cost of manufacture.
Technical scheme is as follows:
A kind of big angle rotary condenser support frame mechanism, it is characterised in that this mechanism include frame, the first side chain, the Two side chains, the 3rd side chain, passive side chain and moving platform;Described the first side chain, the second side chain, the 3rd side chain and passive side chain divide Be not connected between frame and moving platform, and with frame and moving platform Special composition close loop mechanism;The first described side chain includes First Hooke's hinge, the first rod member, the second rod member, sleeve and the second Hooke's hinge;The first described rod member is hinged by the first Hooke Connect moving platform;The second described rod member connects the first rod member by the first revolute pair;The pivot center of the first described revolute pair Vertical with the two of the first Hooke's hinge pivot centers, and these three pivot centers intersect at a point;Described sleeve passes through first Moving sets connects the second rod member;Described sleeve passes through the second Hooke's hinge connection frame;Described the second side chain, the 3rd side chain and The structure of the first side chain is identical with connected mode;Described passive side chain includes the 3rd rod member and the 4th rod member;Described 3rd rod member connects moving platform by the second revolute pair, and the pivot center of the second described revolute pair is in the horizontal direction, described 4th rod member connects the 3rd rod member by the 3rd revolute pair;The pivot center of the 3rd described revolute pair is vertically;Described The 4th rod member be fixed in frame.
A kind of big angle rotary condenser support frame mechanism of the present invention, it is characterised in that when moving platform is in water During flat attitude, the 3rd side chain is vertical with the pivot center of the second revolute pair.
A kind of big angle rotary condenser support frame mechanism of the present invention, it is characterised in that the first side chain, second The moving sets of chain and the 3rd side chain uses feed screw nut driving, hydraulic-driven or air pressure to drive.
The present invention has the following advantages and the technique effect of salience:
The present invention proposes a kind of condenser follower for following the tracks of solar motion, by driving three active branched chain, Condenser polarizers of big angle scope on moving platform can be realized rotate, it is achieved follow the tracks of solar motion;It is empty that it has bigger rotation work Between, advantage that rigidity is high.Mechanism the most of the present invention by the second revolute pair pivot center is designed as horizontal direction, the 3rd revolute pair Pivot center is designed as vertical direction, makes the rotational angle of the second revolute pair and the 3rd revolute pair respectively reach 180 degree and 360 Degree, reduces hinge and rotates the restriction impact for mechanism's rotation work space, so that this support frame mechanism has big rotation Angle.Mechanism the most of the present invention by the vile weather such as dust storm, heavy rain, occurs in which that an active branched chain is damaged when outdoor work In the case of, still can realize pursuit movement, have highly reliable, the feature that serious forgiveness is high.4. present configuration is symmetrical, it is easy to Manufacture, easily realize modularity;Simple in construction, kinesiology controls simple, and motility is good.
Accompanying drawing explanation
The three dimensional structure signal of the embodiment of a kind of big angle rotary condenser support frame mechanism that Fig. 1 provides for the present invention Figure.
Fig. 2 is the embodiment three dimensional structure schematic diagram of the support frame mechanism removing condenser of the present invention.
Fig. 3 is the first side chain example structure schematic diagram of the present invention.
Fig. 4 is the moving platform of the present invention and passive side chain example structure schematic diagram.
Fig. 5 is the support frame mechanism example structure schematic diagram of removal second side chain of the present invention.
In figure: 1-frame;2-the first side chain;3-the second side chain;4-condenser;5-moving platform;6-the 3rd side chain;7-is passive Side chain;21-the first Hooke's hinge;22-the first rod member;23-the second rod member;24-sleeve;25-the second Hooke's hinge;71-the 3rd rod member; 72-the 4th rod member.
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail:
The three-dimensional structure signal of the embodiment of a kind of big angle rotary condenser support frame mechanism that Fig. 1 provides for the present invention Figure, this mechanism includes frame the 1, first side chain the 2, second side chain the 3, the 3rd side chain 6, passive side chain 7, moving platform 5 and condenser 4; Described condenser 4 is fixed on moving platform 5.
Fig. 2 is the embodiment three dimensional structure schematic diagram that the present invention removes the support frame mechanism of condenser 4, described first Chain the 2, second side chain the 3, the 3rd side chain 6 and passive side chain 7 connects moving platform 5 respectively and frame 1 forms Spatial closed loop.
Fig. 3 is the first side chain 2 example structure schematic diagram of the present invention, and the first described side chain 2 includes the first Hooke's hinge 21, first rod member the 22, second rod member 23, sleeve 24 and the second Hooke's hinge 25;The first described rod member 22 is by the first Hooke's hinge 21 connect moving platform 5;The second described rod member 23 connects the first rod member 22 by the first revolute pair;The first described revolute pair Pivot center is vertical with two pivot centers of the first Hooke's hinge 21, and these three pivot centers intersect at a point;Described set Cylinder 24 connects the second rod member 23 by the first moving sets;Described sleeve 24 is by the second Hooke's hinge 25 connection frame 1;Described First moving sets uses feed screw nut driving, hydraulic-driven or air pressure to drive the stretching motion realizing the first side chain.Described Second side chain 3 is identical with the structure of the first side chain 2 and connected mode with the 3rd side chain 6, the first side chain 2 and the second side chain 3 It is symmetrically distributed in the both sides of moving platform 5.The elevating movement of moving platform 5 can be realized by the 3rd side chain 6 described in driving;By driving Dynamic first side chain 2 and the second side chain 3, can realize moving platform 5 spinning motion vertically.
Fig. 4 is moving platform 5 and the passive side chain 7 example structure schematic diagram of the present invention, and described passive side chain 7 includes Three rod member the 71, the 4th rod members 72;The 3rd described rod member 71 connects moving platform 5 by the second revolute pair;The second described rotation Secondary pivot center is in the horizontal direction;When moving platform 5 is in horizontal attitude, the 3rd side chain 6 and the rotary shaft of the second revolute pair Line is vertical;The 4th described rod member connects the 3rd rod member 71 by the 3rd revolute pair;The pivot center of the 3rd described revolute pair Vertically;The 4th described rod member is fixed in frame.
Mechanism of the present invention is by being designed as horizontal direction by the second revolute pair pivot center, and the 3rd revolute pair pivot center sets It is calculated as vertical direction, makes the rotational angle of the second revolute pair and the 3rd revolute pair respectively reach 180 degree and 360 degree, reduce Hinge rotates and limits the impact for mechanism's rotation work space, so that this support frame mechanism has high rotation angle degree.
Fig. 5 is the support frame mechanism example structure schematic diagram of removal second side chain 2 of the present invention, and this mechanism belongs to redundancy Mechanism, when the first side chain 2 or the second side chain 3 described in removal, can realize condenser 4 around horizontal rotating shaft equally with vertical The two-freedom of rotary shaft rotates.

Claims (3)

1. a big angle rotary condenser support frame mechanism, it is characterised in that this mechanism includes frame (1), the first side chain (2), the second side chain (3), the 3rd side chain (6), passive side chain (7) and moving platform (5);Described the first side chain (2), the second side chain (3), the 3rd side chain (6) and passive side chain (7) be connected between frame (1) and moving platform (5), and with frame (1) and dynamic Platform (5) Special composition close loop mechanism;Described the first side chain (2) include the first Hooke's hinge (21), the first rod member (22), second Rod member (23), sleeve (24) and the second Hooke's hinge (25);Described the first rod member (22) connects dynamic by the first Hooke's hinge (21) Platform (5);Described the second rod member (23) connects the first rod member (22) by the first revolute pair;Turning of the first described revolute pair Moving axis line is vertical with two pivot centers of the first Hooke's hinge (21), and these three pivot centers intersect at a point;Described set Cylinder (24) connects the second rod member (23) by the first moving sets;Described sleeve (24) passes through the second Hooke's hinge (25) connection frame (1);Described the second side chain (3), the 3rd side chain (6) are identical with connected mode with the structure of the first side chain (2);Described Passive side chain (7) includes the 3rd rod member (71) and the 4th rod member (72);The 3rd described rod member (71) is by the second revolute pair even Connecing moving platform (5), in the horizontal direction, the 4th described rod member passes through the 3rd revolute pair to the pivot center of the second described revolute pair Connect the 3rd rod member (71);The pivot center of the 3rd described revolute pair is vertically;The 4th described rod member is fixed in machine On frame.
2. a kind of big angle rotary condenser support frame mechanism as claimed in claim 1, it is characterised in that when moving platform (5) When being in horizontal attitude, the 3rd side chain (6) is vertical with the pivot center of the second revolute pair.
3. a kind of big angle rotary condenser support frame mechanism as claimed in claim 1, it is characterised in that the first side chain (2), The moving sets of the second side chain (3) and the 3rd side chain (6) uses feed screw nut driving, hydraulic-driven or air pressure to drive.
CN201610742263.9A 2016-08-26 2016-08-26 A kind of big angle rotary condenser support frame mechanism CN106301176A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106849852A (en) * 2017-03-22 2017-06-13 兰州理工大学 A kind of parallel connection type solar tracks of device
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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CN102166751A (en) * 2011-05-20 2011-08-31 汕头大学 Branched chain-less and six-freedom degree parallel manipulator
CN203183277U (en) * 2013-03-12 2013-09-11 汕头大学 Ankle joint rehabilitation training machine with three rotational degrees of freedom
CN104124914A (en) * 2014-07-04 2014-10-29 清华大学 Rotary decoupling biaxial solar condenser parallel tracking mechanism
CN104308842A (en) * 2014-10-24 2015-01-28 天津大学 Novel plane-symmetric dual-rotation parallel mechanism

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1944001A (en) * 2006-10-13 2007-04-11 燕山大学 Spacial non-symmetric two freedom rotary parallel mechanism
CN101025248A (en) * 2007-03-05 2007-08-29 北京航空航天大学 Three-freedom active ball-baring
CN101108481A (en) * 2007-08-31 2008-01-23 清华大学 Parallel machine with restructurable configuration and scale
CN101403926A (en) * 2008-10-23 2009-04-08 北京交通大学 Hydraulic three-rod support type solar tracking apparatus
CN201573210U (en) * 2009-08-06 2010-09-08 汕头大学 Three-rotational freedom parallel robot with active telescopic link
CN201579789U (en) * 2009-12-15 2010-09-15 汕头大学 Three-rotational DOF parallel-connection robot
CN201799861U (en) * 2010-09-07 2011-04-20 上海工程技术大学 High-load three-rotation parallel connection mechanism
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CN203183277U (en) * 2013-03-12 2013-09-11 汕头大学 Ankle joint rehabilitation training machine with three rotational degrees of freedom
CN104124914A (en) * 2014-07-04 2014-10-29 清华大学 Rotary decoupling biaxial solar condenser parallel tracking mechanism
CN104308842A (en) * 2014-10-24 2015-01-28 天津大学 Novel plane-symmetric dual-rotation parallel mechanism

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106849852A (en) * 2017-03-22 2017-06-13 兰州理工大学 A kind of parallel connection type solar tracks of device
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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